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CVGIP: Image Understanding
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Autonomous Virtual Actors Based on Virtual Sensors
Creating Personalities for Synthetic Actors, Towards Autonomous Personality Agents
Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks
UAI '00 Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence
Qualitative and Quantitative Car Tracking from a Range Image Sequence
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
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Simultaneous localization, mapping and moving object tracking
Simultaneous localization, mapping and moving object tracking
Virtual Sensors: Abstracting Data from Physical Sensors
WOWMOM '06 Proceedings of the 2006 International Symposium on on World of Wireless, Mobile and Multimedia Networks
Rao-Blackwellized particle filter for multiple target tracking
Information Fusion
Simultaneous Localization, Mapping and Moving Object Tracking
International Journal of Robotics Research
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Junior: The Stanford entry in the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
A perception-driven autonomous urban vehicle
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part III
The 2005 DARPA Grand Challenge: The Great Robot Race
The 2005 DARPA Grand Challenge: The Great Robot Race
Estimating the absolute position of a mobile robot using position probability grids
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Incremental unsupervised three-dimensional vehicle model learning from video
IEEE Transactions on Intelligent Transportation Systems
Greener aviation with virtual sensors: a case study
Data Mining and Knowledge Discovery
Vision and GPS-based autonomous vehicle navigation using templates and artificial neural networks
Proceedings of the 27th Annual ACM Symposium on Applied Computing
Taking mobile multi-object tracking to the next level: people, unknown objects, and carried items
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part V
Real time egomotion of a nonholonomic vehicle using LIDAR measurements
Journal of Field Robotics
Probabilistic terrain classification in unstructured environments
Robotics and Autonomous Systems
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Situational awareness is crucial for autonomous driving in urban environments. This paper describes the moving vehicle detection and tracking module that we developed for our autonomous driving robot Junior. The robot won second place in the Urban Grand Challenge, an autonomous driving race organized by the U.S. Government in 2007. The module provides reliable detection and tracking of moving vehicles from a high-speed moving platform using laser range finders. Our approach models both dynamic and geometric properties of the tracked vehicles and estimates them using a single Bayes filter per vehicle. We present the notion of motion evidence, which allows us to overcome the low signal-to-noise ratio that arises during rapid detection of moving vehicles in noisy urban environments. Furthermore, we show how to build consistent and efficient 2D representations out of 3D range data and how to detect poorly visible black vehicles. Experimental validation includes the most challenging conditions presented at the Urban Grand Challenge as well as other urban settings.