TerraMax Vision at the Urban Challenge 2007
Open Access
- 17 February 2010
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Intelligent Transportation Systems
- Vol. 11 (1), 194-205
- https://doi.org/10.1109/tits.2010.2041231
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
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