Title :
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
fDate :
3/1/2010 12:00:00 AM
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;
Journal_Title :
Intelligent Transportation Systems, IEEE Transactions on
DOI :
10.1109/TITS.2010.2041231
