TerraMax Vision at the Urban Challenge 2007

Author

Broggi, A. ; Cappalunga, A. ; Caraffi, C. ; Cattani, S. ; Ghidoni, S. ; Grisleri, P. ; Porta, P.P. ; Posterli, M. ; Zani, P.

Author_Institution

Dipt. di Ing. dell´Inf., Univ. degli Studi di Parma, Parma, Italy

Volume

11

Issue

1

fYear

2010

fDate

3/1/2010 12:00:00 AM

Firstpage

194

Lastpage

205

Abstract

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.

Keywords

image sensors; mobile robots; object detection; road vehicles; robot vision; sensor fusion; DARPA urban challenge; TerraMax vision systems; calibration method; hardware configuration; obstacle detection; passive sensing; road marking detection; sensor fusion; vehicle detection; Calibration; Hardware; Machine vision; Mobile robots; Remotely operated vehicles; Roads; Robot sensing systems; Sensor fusion; Vehicle detection; Autonomous vehicles; Urban Challenge; data fusion; lane detection; obstacle detection; vision systems;

fLanguage

English

Journal_Title

Intelligent Transportation Systems, IEEE Transactions on

Publisher

ieee

ISSN

1524-9050

Type

jour

DOI

10.1109/TITS.2010.2041231

Filename

5415547