Fully Adaptive Visual Navigation for Autonomous Vehicles

Supplemental material for paper presented at the 2010 Army Science Conference

Download the paper: Fully Adaptive Visual Navigation for Autonomous Vehicles

DAVE

Video

• Download video clip (MPEG, 9.2 MByte)
• Technical project report (PDF format, 3.1 MByte)
• Project home page (with more information and video clips)

LAGR

System Overview Video

Online Learning Video

Vehicle Control Video (IROS'08)

• Download video clip (MP4, 39 MByte)

You can also visit Prof. Yann LeCun's LAGR project page at NYU which has additional videos and links to all the scientific papers written during the LAGR program.

Hardware Acceleration

You can see videos of the offline LAGR system running on a single laptop with the computationally expensive visual feature extraction offloaded to Clément Farabet's custom NeuFlow architecture on an FPGA at the NeuFlow website

Part of the team is presenting our work on hardware acceleration at the NIPS 2010 workshop Learning on Cores, Clusters, and Clouds

• Corda, Benoit, Clément Farabet, Marco Scoffier, & Yann LeCun (2010) Learning Based on Dataflow Computing Design. In Workshop on Learning on Cores, Clusters and Clouds (LCCC), Whistler, Canada.

References

• DARPA IPTO (2005-2008) Web Site for DARPA LAGR Program
• Foster Miller (2010) Web Site for Talon Robots
• Hadsell, Raia, Ayse Erkan, Pierre Sermanet, Marco Scoffier, Urs Muller, & Yann LeCun (2008) Deep Belief Net Learning in a Long-Range Vision System for Autonomous Off-Road Driving. In Proc. Intelligent Robots and Systems (IROS'08).
• Hadsell, Raia, Pierre Sermanet, Marco Scoffier, Ayse Erkan, Koray Kavackuoglu, Urs Muller, & Yann LeCun (2009) Learning Long-Range Vision for Autonomous Off-Road Driving. Journal of Field Robotics 26(2): 120-144.
• iRobot (2010) Web Site for PackBot Ground Robots
• Jackel, L. D., E. Krotkov, M. Perschbacher, J. Pippine, & C. Sullivan (2006) The DARPA LAGR program: Goals, challenges, methodology, and phase I results. Journal of Field Robotics 23(11-12): 945-973.
• Jochem, Todd & Dean Pomerleau (1997) Vision-Based Neural Network Road and Intersection Detection. In In Intelligent Unmanned Ground Vehicles, Charles Thorpe Martial H. Hebert & Anthony Stentz, eds., Kluwer Academic Publishers.
• LeCun, Y., L. Bottou, Y. Bengio, & P. Haffner (1998) Gradient-Based Learning Applied to Document Recognition. Proceedings of the IEEE 86(11): 2278-2324.
• LeCun, Y., U. Muller, J. Ben, E. Cosatto, & B. Flepp (2005) Off-Road Obstacle Avoidance through End-to-End Learning. In Advances in Neural Information Processing Systems (NIPS 2005), MIT Press.
• Pomerleau, Dean A. (1993) Knowledge-based Training of Artificial Neural Networks for Autonomous Robot Driving. In Robot Learning, J. Connell & S. Mahadevan, eds., Kluwer Academic Publishing.
• Sermanet, Pierre, Raia Hadsell, Marco Scoffier, Matt Grimes, Jan Ben, Ayse Erkan, Chris Crudele, Urs Muller, & Yann LeCun (2009) A Multi-Range Archi- tecture for Collision-Free Off-Road Robot Navigation. Journal of Field Robotics 26(1): 58-87.
• Sermanet, Pierre, Raia Hadsell, Marco Scoffier, Urs Muller, & Yann LeCun (2008a) Mapping and Planning under Uncertainty in Mobile Robots with Long- Range Perception. In Proc. Intelligent Robots and Sys- tems (IROS'08).
• Sermanet, Pierre, Marco Scoffier, Chris Crudele, Urs Muller, & Yann LeCun (2008b) Learning Maneuver Dictionaries for Ground Robot Planning. In Proc. 39th International Symposium on Robotics (ISR'08).