Open AccessTerraMax Vision at the Urban Challenge 2007
Author(s) -
Alberto Broggi,
Andrea Cappalunga,
Claudio Caraffi,
Stefano Cattani,
Stefano Ghidoni,
Paolo Grisleri,
Pier Paolo Porta,
Matteo Posterli,
Paolo Zani
Publication year - 2010
Publication title -
ieee transactions on intelligent transportation systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.591
H-Index - 153
eISSN - 1558-0016
pISSN - 1524-9050
DOI - 10.1109/tits.2010.2041231
Subject(s) - transportation , aerospace , communication, networking and broadcast technologies , computing and processing , robotics and control systems , signal processing and analysis
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.
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