TerraMax Vision at the Urban Challenge 2007

被引：44

作者：

Broggi, Alberto ^{[1
]}

Cappalunga, Andrea ^{[1
]}

Caraffi, Claudio ^{[1
]}

Cattani, Stefano ^{[1
]}

Ghidoni, Stefano ^{[1
]}

Grisleri, Paolo ^{[1
]}

Porta, Pier Paolo ^{[1
]}

Posterli, Matteo ^{[1
]}

Zani, Paolo ^{[1
]}

机构：

[1] Univ Parma, Artificial Vis & Intelligent Syst Lab VisLab, Dipartimento Ingn Informaz, I-43100 Parma, Italy

来源：

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2010年 / 11卷 / 01期

关键词：

Autonomous vehicles; data fusion; lane detection; obstacle detection; Urban Challenge; vision systems; OBSTACLE;

D O I：

10.1109/TITS.2010.2041231

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

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.

引用

页码：194 / 205

页数：12

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