TerraMax vision at the urban challenge 2007

Authors:
Alberto Broggi;Andrea Cappalunga;Claudio Caraffi;Stefano Cattani;Stefano Ghidoni;Paolo Grisleri;Pier Paolo Porta;Matteo Posterli;Paolo Zani
Affiliations:
Artificial Vision and Intelligent Systems Laboratory, Dipartimento di Ingegneria dell'Informazione, Università degli Studi di Parma, Parma, Italy;Artificial Vision and Intelligent Systems Laboratory, Dipartimento di Ingegneria dell'Informazione, Università degli Studi di Parma, Parma, Italy;Artificial Vision and Intelligent Systems Laboratory, Dipartimento di Ingegneria dell'Informazione, Università degli Studi di Parma, Parma, Italy;Artificial Vision and Intelligent Systems Laboratory, Dipartimento di Ingegneria dell'Informazione, Università degli Studi di Parma, Parma, Italy;Artificial Vision and Intelligent Systems Laboratory, Dipartimento di Ingegneria dell'Informazione, Università degli Studi di Parma, Parma, Italy;Artificial Vision and Intelligent Systems Laboratory, Dipartimento di Ingegneria dell'Informazione, Università degli Studi di Parma, Parma, Italy;Artificial Vision and Intelligent Systems Laboratory, Dipartimento di Ingegneria dell'Informazione, Università degli Studi di Parma, Parma, Italy;Artificial Vision and Intelligent Systems Laboratory, Dipartimento di Ingegneria dell'Informazione, Università degli Studi di Parma, Parma, Italy;Artificial Vision and Intelligent Systems Laboratory, Dipartimento di Ingegneria dell'Informazione, Università degli Studi di Parma, Parma, Italy
Venue:
IEEE Transactions on Intelligent Transportation Systems
Year:
2010

Citing 7
Cited 1

Tracking non-rigid, moving objects based on color cluster flow

CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Obstacle Detection with Stereo Vision for Off-Road Vehicle Navigation

CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
On-Road Vehicle Detection: A Review

IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust Moving Object Detection at Distance in the Visible Spectrum and Beyond Using A Moving Camera

CVPRW '06 Proceedings of the 2006 Conference on Computer Vision and Pattern Recognition Workshop
StereoBox: a robust and efficient solution for automotive short-range obstacle detection

EURASIP Journal on Embedded Systems
Off-Road Path and Obstacle Detection Using Decision Networks and Stereo Vision

IEEE Transactions on Intelligent Transportation Systems
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection

IEEE Transactions on Image Processing

An evaluation of stereo and laser-based range sensing for rotorcraft unmanned aerial vehicle obstacle avoidance

Journal of Field Robotics

Quantified Score

Hi-index	0.00

Visualization

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.