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We participated in the DARPA Grand Challenge, a robot road race, in 2004 and 2005 as members of Team Caltech. Our contribution was a module for road following based on estimating road direction from the vanishing point and lateral offset from ladar obstacles. The module and its performance is described most comprehensively in Autonomous Robots 2008. Caltech's entire system for the 2005 race was described in JFR 2006. Work in progress on the road-following module and related algorithms was reported in ICRA 2006, DGCRSS 2006, MVIV 2005, BMVC 2004, and CVPR 2004.
In 2007, we participated in the DARPA Urban Challenge, again with Caltech. Our contribution was a robust road edge/curb finder using ladar exclusively. This technique was not published.
