City-ALIEN
City-ALIEN is an autonomous ground vehicle that won the first place in the Design Competition at IGVC'2010, due to its truly innovative platform that was developed with the goal of applying cutting-edge vision research (to ensure passive sensing) to practical robotics. Its unique catadioptric design demonstrated that – as a vision-only system – is capable of performing at least as well as classical designs with bulky laser range scanners. In addition, the balance between innovation and improvement that City ALIEN exhibited, its electronics saw a dramatic enhancement – making City ALIEN safer, more robust, and more maneuverable than any past generation of City College IGVC robots. In fact, City ALIEN also demonstrated top-notch navigation performance during IGVC 2010 by coming in 8th place at the Autonomous Competition.
Team Members:
(from left to right)
Dr. Jizhong Xiao, Carlos Jaramillo, Erez Gati, (Bobby Vassos), Igor Labutov, Ricardo Chincha, and Fernando Guevara
Publications:
- Igor Labutov, Carlos Jaramillo, Jizhong Xiao, “Generating near-spherical probabilistic range panoramas using a low-cost, single-camera catadioptric-stero rig”, the workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras (Omnivis’2010) on June 27, 2010, in conjunction with 2010 Robotics: Science and Systems Conference (RSS’2010), held at the Universidad de Zaragoza, Spain June 27~30, 2010. (Best Presentation Award).
- Igor Labutov, Carlos Jaramillo, Jizhong Xiao, “Fusing Optical Flow and Stereo in a Spherical Depth Panorama Using a Single-Camera Folded Catadioptric Rig”, 2011 International Conference on Robotics and Automation (ICRA2011), accepted.
- Igor Labutov, Carlos Jaramillo, Jizhong Xiao, “Generating Near-Spherical Range Panoramas by Fusing Optical Flow and Stereo from a Single-Camera Folded Catadioptric Rig”, Machine Vision and Applications, under review.
Videos:
City ALIEN only:
IGVC 2010 Official Coverage:
