paper.md

Papers

By Topic Areas and Year of Publication / Submission

General

1. [2016] Combining Deep Reinforcement Learning and Safety Based Control for Autonomous Driving. [ref]

• [2015] An Empirical Evaluation of Deep Learning on Highway Driving. [ref]
• [2015] Self-Driving Vehicles: The Challenges and Opportunities Ahead. [ref]
• [2014] Making Bertha Drive - An Autonomous Journey on a Historic Route. [ref]
• [2014] Towards Autonomous Vehicles. [ref]
• [2013] Towards a viable autonomous driving research platform. [ref]
• [2013] An ontology-based model to determine the automation level of an automated vehicle for co-driving. [ref]
• [2013] Autonomous Vehicle Navigation by Building 3d Map and by Detecting Human Trajectory Using Lidar. [ref]
• [2012] Autonomous Ground Vehicles - Concepts and a Path to the Future. [ref]
• [2011] Experimental Evaluation of Autonomous Driving Based on Visual Memory and Image-Based Visual Servoing. [ref]
• [2011] Learning to Drive: Perception for Autonomous Cars. [ref]
• [2010] Toward robotic cars. [ref]
• [2009] Autonomous Driving in Traffic: Boss and the Urban Challenge. [ref]
• [2009] Mapping, navigation, and learning for off-road traversal. [ref]
• [2008] Autonomous Driving in Urban Environments: Boss and the Urban Challenge. [ref]
• [2008] Caroline: An autonomously driving vehicle for urban environments. [ref]
• [2008] Design of an Urban Driverless Ground Vehicle. [ref]
• [2008] Little Ben: The Ben Franklin Racing Team's Entry in the 2007 DARPA Urban Challenge. [ref]
• [2008] Odin: Team VictorTango's Entry in the DARPA Urban Challenge. [ref]
• [2008] Robosemantics: How Stanley the Volkswagen Represents the World. [ref]
• [2008] Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge. [ref]
• [2008] The MIT-Cornell collision and why it happened. [ref]
• [2007] Self-Driving Cars - An AI-Robotics Challenge. [ref]
• [2007] 2007 DARPA Urban Challenge: The Ben Franklin Racing Team Team B156 Technical Paper. [ref]
• [2007] Team Mit Urban Challenge Technical Report. [ref]
• [2007] DARPA Urban Challenge Technical Report Austin Robot Technology [ref]
• [2007] Spirit of Berlin: an Autonomous Car for the Darpa Urban Challenge Hardware and Software Architecture. [ref]
• [2007] Team Case and the 2007 Darpa Urban Challenge. [ref]
• [2006] A Personal Account of the Development of Stanley, the Robot That Won the DARPA Grand Challenge. [ref]
• [2006] Stanley: The robot that won the DARPA Grand Challenge. [ref]

Localization & Mapping

1. [2016] MultiCol-SLAM - A Modular Real-Time Multi-Camera SLAM System. [ref]

• [2016] Image Based Camera Localization: an Overview. [ref]
• [2016] Ubiquitous real-time geo-spatial localization [ref]
• [2016] Robust multimodal sequence-based loop closure detection via structured sparsity. [ref]
• [2016] SRAL: Shared Representative Appearance Learning for Long-Term Visual Place Recognition. [ref], [code]
• [2015] Precise Localization of an Autonomous Car Based on Probabilistic Noise Models of Road Surface Marker Features Using Multiple Cameras. [ref]
• [2013] Planar Segments Based Three-dimensional Robotic Mapping in Outdoor Environments. [ref]
• [2013] Vehicle Localization along a Previously Driven Route Using Image Database. [ref]
• [2012] Can priors be trusted? Learning to anticipate roadworks. [ref]
• [2009] Laser Scanner Based Slam in Real Road and Traffic Environment. [ref]
• [2007] Map-Based Precision Vehicle Localization in Urban Environments. [ref]

Perception

1. [2016] VisualBackProp: visualizing CNNs for autonomous driving. [ref]

• [2016] Driving in the Matrix: Can Virtual Worlds Replace Human-Generated Annotations for Real World Tasks?. [ref]
• [2016] Lost and Found: Detecting Small Road Hazards for Self-Driving Vehicles. [ref]
• [2016] Image segmentation of cross-country scenes captured in IR spectrum. [ref]
• [2016] Traffic-Sign Detection and Classification in the Wild. [ref]
• [2016] Persistent self-supervised learning principle: from stereo to monocular vision for obstacle avoidance. [ref]
• [2016] Deep Multispectral Semantic Scene Understanding of Forested Environments Using Multimodal Fusion. [ref]
• [2016] Joint Attention in Autonomous Driving (JAAD). [ref, data]
• [2016] Perception for driverless vehicles: design and implementation. [ref]
• [2016] Robust multimodal sequence-based loop closure detection via structured sparsity. [ref]
• [2016] SRAL: Shared Representative Appearance Learning for Long-Term Visual Place Recognition. [ref], [code]
• [2015] Pixel-wise Segmentation of Street with Neural Networks. [ref]
• [2015] Deep convolutional neural networks for pedestrian detection. [ref]
• [2015] Fast Algorithms for Convolutional Neural Networks. [ref]
• [2015] Fusion of color images and LiDAR data for lane classification. [ref]
• [2015] Environment Perception for Autonomous Vehicles in Challenging Conditions Using Stereo Vision. [ref]
• [2015] Intention-aware online POMDP planning for autonomous driving in a crowd. [ref]
• [2015] Survey on Vanishing Point Detection Method for General Road Region Identification. [ref]
• [2015] Visual road following using intrinsic images. [ref]
• [2014] Rover – a Lego* Self-driving Car. [ref]
• [2014] Classification and Tracking of Dynamic Objects with Multiple Sensors for Autonomous Driving in Urban Environments. [ref]
• [2014] Generating Omni-directional View of Neighboring Objects for Ensuring Safe Urban Driving. [ref]
• [2014] Autonomous Visual Navigation and Laser-Based Moving Obstacle Avoidance. [ref]
• [2014] Extending the Stixel World with online self-supervised color modeling for road-versus-obstacle segmentation. [ref]
• [2014] Modeling Human Plan Recognition Using Bayesian Theory of Mind. [ref]
• [2013] Focused Trajectory Planning for autonomous on-road driving. [ref]
• [2013] Avoiding moving obstacles during visual navigation. [ref]
• [2013] Mobile robot navigation system in outdoor pedestrian environment using vision-based road recognition. [ref]
• [2013] Obstacle detection and mapping in low-cost, low-power multi-robot systems using an Inverted Particle Filter. [ref]
• [2013] Real-time estimation of drivable image area based on monocular vision. [ref]
• [2013] Road model prediction based unstructured road detection. [ref]
• [2013] Selective Combination of Visual and Thermal Imaging for Resilient Localization in Adverse Conditions: Day and Night, Smoke and Fire. [ref]
• [2012] Road Tracking Method Suitable for Both Unstructured and Structured Roads. [ref]
• [2012] Autonomous Navigation and Sign Detector Learning. [ref]
• [2012] Design of a Multi-Sensor Cooperation Travel Environment Perception System for Autonomous Vehicle. [ref]
• [2012] Learning in Reality: a Case Study of Stanley, the Robot That Won the Darpa Challenge. [ref]
• [2012] Portable and Scalable Vision-Based Vehicular Instrumentation for the Analysis of Driver Intentionality. [ref]
• [2012] What could move? Finding cars, pedestrians and bicyclists in 3D laser data. [ref]
• [2012] The Stixel World. [ref]
• [2011] Stereo-based road boundary tracking for mobile robot navigation. [ref]
• [2009] Autonomous Information Fusion for Robust Obstacle Localization on a Humanoid Robot. [ref]
• [2009] Learning long-range vision for autonomous off-road driving. [ref]
• [2009] On-line road boundary modeling with multiple sensory features, flexible road model, and particle filter. [ref]
• [2008] The Area Processing Unit of Caroline - Finding the Way through DARPA's Urban Challenge. [ref]
• [2008] Vehicle detection and tracking for the Urban Challenge. [ref]
• [2007] Low cost sensing for autonomous car driving in highways. [ref]
• [2007] _Stereo and Colour Vision Techniques for Autonomous Vehicle Guidance _. [ref]
• [2000] Real-time multiple vehicle detection and tracking from a moving vehicle. [ref]

Navigation & Planning

1. [2016] A Self-Driving Robot Using Deep Convolutional Neural Networks on Neuromorphic Hardware. [ref]

• [2016] End to End Learning for Self-Driving Cars. [ref]
• [2016] A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles. [ref]
• [2016] A Convex Optimization Approach to Smooth Trajectories for Motion Planning with Car-Like Robots. [ref]
• [2016] Routing Autonomous Vehicles in Congested Transportation Networks: Structural Properties and Coordination Algorithms. [ref]
• [2016] Machine Learning for Visual Navigation of Unmanned Ground Vehicles. [ref]
• [2016] Real-time self-driving car navigation and obstacle avoidance using mobile 3D laser scanner and GNSS. [ref]
• [2016] Watch this: Scalable cost-function learning for path planning in urban environments. [ref]
• [2015] DeepDriving: Learning Affordance for Direct Perception in Autonomous Driving. [ref, data, code]
• [2015] Automatic Driving on Ill-defined Roads: An Adaptive, Shape-constrained, Color-based Method. [ref, data]
• [2015] A Framework for Applying Point Clouds Grabbed by Multi-Beam LIDAR in Perceiving the Driving Environment. [ref]
• [2015] How Much of Driving Is Preattentive?. [ref]
• [2015] Map-building and Planning for Autonomous Navigation of a Mobile Robot. [ref]
• [2014] A Multiple Attribute-based Decision Making model for autonomous vehicle in urban environment. [ref]
• [2014] A prediction-based reactive driving strategy for highly automated driving function on freeways. [ref]
• [2014] An RRT-based navigation approach for mobile robots and automated vehicles. [ref]
• [2014] Image Feature-based Traversability Analysis for Mobile Robot Navigation in Outdoor Environment. [ref]
• [2014] Speed Daemon: Experience-Based Mobile Robot Speed Scheduling. [ref]
• [2014] Toward human-like motion planning in urban environments. [ref]
• [2013] Motion Estimation for Self-Driving Cars with a Generalized Camera. [ref]
• [2013] Development of a Navigation Control System for an Autonomous Formula Sae-electric Race Car. [ref]
• [2013] Low speed automation: Technical feasibility of the driving sharing in urban areas. [ref]
• [2013] Path selection based on local terrain feature for unmanned ground vehicle in unknown rough terrain environment. [ref]
• [2013] Stereo-based Autonomous Navigation and Obstacle Avoidance. [ref]
• [2012] Development of an Autonomous Vehicle for High-Speed Navigation and Obstacle Avoidance. [ref]
• [2012] Fast Vanishing-Point Detection in Unstructured Environments. [ref]
• [2012] Navigation of an Autonomous Car Using Vector Fields and the Dynamic Window Approach. [ref]
• [2012] Road direction detection based on vanishing-point tracking. [ref]
• [2012] Self-supervised learning to visually detect terrain surfaces for autonomous robots operating in forested terrain. [ref]
• [2012] Visual Navigation for Mobile Robots. [ref]
• [2011] A new Approach for Robot Motion Planning using Rapidly-exploring Randomized Trees. [ref]
• [2011] Driving me around the bend: Learning to drive from visual gist. [ref]
• [2011] Optimized route network graph as map reference for autonomous cars operating on German autobahn. [ref]
• [2011] Template-based autonomous navigation and obstacle avoidance in urban environments. [ref]
• [2010] Vision-Based Autonomous Navigation System Using ANN and FSM Control [ref]
• [2010] An optimal-control-based framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios. [ref]
• [2010] Perception for Urban Driverless Vehicles: Design and Implementation. [ref]
• [2009] Autonomous Offroad Navigation Under Poor GPS Conditions. [ref]
• [2009] Autonomous robot navigation in outdoor cluttered pedestrian walkways. [ref]
• [2009] Fast Path Planning in Uncertain Environments: Theory and Experiments. [ref]
• [2009] Trajectory Based Autonomous Vehicle following Using a Robotic Driver. [ref]
• [2008] A Robust Motion Planning Approach for Autonomous Driving in Urban Areas. [ref]
• [2008] Motion Planning in Urban Environments. [ref]
• [2008] Motion planning in urban environments: Part II. [ref]
• [2008] Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles. [ref]
• [2009] Anticipatory Driving for a Robot-Car Based on Supervised Learning. [ref]
• [2007] Online Speed Adaptation Using Supervised Learning for High-Speed, Off-Road Autonomous Driving.[ref]
• [2007] Predictive Active Steering Control for Autonomous Vehicle Systems. [ref]
• [2006] Probabilistic Terrain Analysis For High-Speed Desert Driving.[ref]

Control

1. [2016] Predictive Control for Autonomous Driving with Experimental Evaluation on a Heavy-duty Construction Truck. [ref]

• [2015] Model Predictive Control of Autonomous Mobility-on-Demand Systems. [ref]
• [2015] Toward integrated motion planning and control using potential fields and torque-based steering actuation for autonomous driving. [ref]
• [2013] Strategic decision making for automated driving on two-lane, one way roads using model predictive control. [ref]
• [2012] Autonomous vehicles control in the VisLab Intercontinental Autonomous Challenge. [ref]
• [2012] Optimal Planning and Control for Hazard Avoidance of Front-wheel Steered Ground Vehicles. [ref]
• [2009] Automatic Steering Methods for Autonomous Automobile Path Tracking. [ref]
• [2009] Comparison of Three Control Methods for an Autonomous Vehicle. [ref]

Simulation

1. [2016] Learning a Driving Simulator. [ref]

• [2014] From a Competition for Self-Driving Miniature Cars to a Standardized Experimental Platform: Concept, Models, Architecture, and Evaluation. [ref]
• [2014] Technical evaluation of the Carolo-Cup 2014 - A competition for self-driving miniature cars. [ref]
• [2014] Crowdsourcing as a methodology to obtain large and varied robotic data sets. [ref]
• [2014] Efficient Learning of Pre-attentive Steering in a Driving School Framework. [ref]
• [2007] A Simulation and Regression Testing Framework for Autonomous Vehicles. [ref]
• [2006] Robot Competitions Ideal Benchmarks for Robotics Research. [ref]

Software Engineering

1. [2016] Evaluation of Sandboxed Software Deployment for Real-time Software on the Example of a Self-Driving Heavy Vehicle. [ref]

• [2014] Engineering the Hardware/Software Interface for Robotic Platforms - A Comparison of Applied Model Checking with Prolog and Alloy. [ref]
• [2014] Comparison of Architectural Design Decisions for Resource-Constrained Self-Driving Cars - A Multiple Case-Study. [ref]
• [2014] (Re)liability of Self-driving Cars. An Interesting Challenge!. [ref]
• [2014] Explicating, Understanding, and Managing Technical Debt from Self-Driving Miniature Car Projects. [ref]
• [2014] Towards Continuous Integration for Cyber-Physical Systems on the Example of Self-Driving Miniature Cars. [ref]
• [2014] Saving virtual testing time for CPS by analyzing code coverage on the example of a lane-following algorithm. [ref]
• [2013] Parallel scheduling for cyber-physical systems: analysis and case study on a self-driving car[ref]
• [2012] SAFER: System-level Architecture for Failure Evasion in Real-time Applications. [ref]
• [2011] A Flexible Real-Time Control System for Autonomous Vehicles. [ref]
• [2010] Automating acceptance tests for sensor- and actuator-based systems on the example of autonomous vehicles. [ref]
• [2007] Software & Systems Engineering Process and Tools for the Development of Autonomous Driving Intelligence [ref]

Human-Machine Interaction

1. [2015] User interface considerations to prevent self-driving carsickness. [ref]

• [2014] Public Opinion about Self-driving Vehicles. [ref]
• [2014] Setting the Stage for Self-driving Cars: Exploration of Future Autonomous Driving Experiences. [ref]
• [2014] Three Decades of Driver Assistance Systems: Review and Future Perspectives. [ref]
• [2013] Review Article Automotive Technology and Human Factors Research: Past, Present, and Future. [ref]
• [2012] Safe semi-autonomous control with enhanced driver modeling. [ref]
• [2012] Semi-autonomous Car Control Using Brain Computer Interfaces. [ref]
• [2011] iDriver - Human Machine Interface for Autonomous Cars. [ref]
• [2010] Driving an Autonomous Car with Eye Tracking Driving an Autonomous Car with Eye Tracking. [ref]
• [2010] Remote Controlling an Autonomous Car with an Iphone. [ref]
• [2009] Car-driver Cooperation in Future Vehicles I. Adas and Autonomuos Vehicle. [ref]
• [2009] Driver Inattention Detection based on Eye Gaze - Road Event Correlation. [ref]

Infrastructure

1. [2014] Control of Robotic Mobility-On-Demand Systems: a Queueing-Theoretical Perspective. [ref]

• [2014] Priority-based Intersection Control Framework for Self-Driving Vehicles: Agent-based Model Development and Evaluation. [ref]
• [2014] A lattice-based approach to multi-robot motion planning for non-holonomic vehicles. [ref]
• [2005] Cooperative autonomous driving: intelligent vehicles sharing city roads. [ref]
• [2014] Achieving Integrated Convoys: Cargo Unmanned Ground Vehicle Development and Experimentation. [ref]
• [2014] Priority-based coordination of mobile robots. [ref]
• [2012] Exploration and Mapping with Autonomous Robot Teams Results from the Magic 2010 Competition. [ref]
• [2012] Progress toward multi-robot reconnaissance and the MAGIC 2010 competition. [ref]

Law & Society

1. [2016] Autonomous Vehicle Technology: A Guide for Policymakers. [ref]

• [2014] WHITE PAPER Self-driving Vehicles: Current Status of Autonomous Vehicle Development and Minnesota Policy Implications Preliminary White Paper. [ref]
• [2014] Are We Ready for Driver-less Vehicles? Security vs. Privacy- A Social Perspective. [ref]
• [2014] A Survey of Public Opinion about Autonomous and Self-driving.[ref]
• [2013] Autonomous vehicle social behavior for highway entrance ramp management. [ref]