TerraMax Vision at the Urban Challenge 2007

TerraMax Vision at the Urban Challenge 2007

This paper presents the TerraMax vision systems used during the 2007 DARPA Urban Challenge. First, a description of the different vision systems is provided, focusing on their hardware configuration, calibration method, and tasks. Then, each component is described in detail, focusing on the algorith...

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Veröffentlicht in:IEEE transactions on intelligent transportation systems 2010-03, Vol.11 (1), p.194-205
Hauptverfasser: Broggi, A., Cappalunga, A., Caraffi, C., Cattani, S., Ghidoni, S., Grisleri, P., Porta, P.P., Posterli, M., Zani, P.
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Applied sciences
Artificial intelligence
Autonomous vehicles
Calibration
Computer science
control theory
systems
data fusion
Exact sciences and technology
Focusing
Ground, air and sea transportation, marine construction
Hardware
lane detection
Machine vision
Mobile robots
obstacle detection
Pattern recognition. Digital image processing. Computational geometry
Remotely operated vehicles
Road transportation and traffic
Roads
Robot sensing systems
Sensor fusion
Tasks
Urban Challenge
Vehicle detection
Vehicles
Vision systems
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Beschreibung
Zusammenfassung:This paper presents the TerraMax vision systems used during the 2007 DARPA Urban Challenge. First, a description of the different vision systems is provided, focusing on their hardware configuration, calibration method, and tasks. Then, each component is described in detail, focusing on the algorithms and sensor fusion opportunities: obstacle detection, road marking detection, and vehicle detection. The conclusions summarize the lesson learned from the developing of the passive sensing suite and its successful fielding in the Urban Challenge.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2010.2041231