| Real‐time SLAM with octree evidence grids for exploration in underwater tunnels N Fairfield, G Kantor, D Wettergreen Journal of Field Robotics 24 (1‐2), 03-21, 2007 | 304 | 2007 |
| Remote assistance for autonomous vehicles in predetermined situations N Fairfield, JS Herbach, V Furman US Patent 9,720,410, 2017 | 253 | 2017 |
| Traffic light mapping and detection N Fairfield, C Urmson 2011 IEEE International Conference on Robotics and Automation, 5421-5426, 2011 | 251 | 2011 |
| Detecting that an autonomous vehicle is in a stuck condition JS Herbach, N Fairfield US Patent 8,996,224, 2015 | 219 | 2015 |
| Data selection by an autonomous vehicle for trajectory modification JS Herbach, N Fairfield, P Colijn US Patent 8,849,494, 2014 | 195 | 2014 |
| Transitioning a mixed-mode vehicle to autonomous mode LRP Gomez, N Fairfield, A Szybalski, P Nemec, C Urmson US Patent 8,078,349, 2011 | 192 | 2011 |
| Transitioning a mixed-mode vehicle to autonomous mode LRP Gomez, N Fairfield, A Szybalski, P Nemec, C Urmson US Patent 8,078,349, 2011 | 192 | 2011 |
| Reporting road event data and sharing with other vehicles N Fairfield, JS Herbach, AH Chatham, MS Montemerlo US Patent 9,547,989, 2017 | 154 | 2017 |
| Robust method for detecting traffic signals and their associated states DI Ferguson, N Fairfield, A Levandowski US Patent 9,145,140, 2015 | 140 | 2015 |
| Predicting trajectories of objects based on contextual information DIF Ferguson, DH Silver, S Ross, N Fairfield, IA Sucan US Patent 9,248,834, 2016 | 125 | 2016 |
| Augmented trajectories for autonomous vehicles JS Herbach, N Fairfield, D Dolgov, P Colijn, A Chatham US Patent 9,008,890, 2015 | 111 | 2015 |
| Traffic signal mapping and detection N Fairfield, C Urmson, S Thrun US Patent 8,559,673, 2013 | 108 | 2013 |
| Arranging passenger pickups for autonomous vehicles N Fairfield, JS Herbach, CK Ludwick, MP McNaughton, RR Hubert, ... US Patent 9,836,057, 2017 | 105 | 2017 |
| Camera based localization N Fairfield, CP Urmson, MS Montemerlo US Patent 9,476,970, 2016 | 102 | 2016 |
| Construction zone detection using a plurality of information sources DI Ferguson, D Haehnel, N Fairfield US Patent 9,221,461, 2015 | 102 | 2015 |
| Methods and systems for determining instructions for pulling over an autonomous vehicle JS Herbach, N Fairfield US Patent 9,523,984, 2016 | 100 | 2016 |
| Construction zone sign detection N Fairfield, DI Ferguson, A Ogale, M Wang, YH Yee US Patent 9,195,914, 2015 | 93 | 2015 |
| Sensor field selection N Fairfield, J Zhu, DA Dolgov US Patent 8,589,014, 2013 | 86 | 2013 |
| Attempting to pull over for autonomous vehicles BD Cullinane, DTZ Lu, AK Aula, J Arden, N Fairfield, JS Herbach, ... US Patent 9,547,307, 2017 | 85 | 2017 |
| Use of uncertainty regarding observations of traffic intersections to modify behavior of a vehicle DI Ferguson, N Fairfield US Patent 8,761,991, 2014 | 82 | 2014 |
