A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Violating Rotating Camera Geometry: The Effect of Radial Distortion on Self-Calibration
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
A perception-driven autonomous urban vehicle
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part III
Simultaneous local and global state estimation for robotic navigation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Moving object detection with laser scanners
Journal of Field Robotics
Challenging data sets for point cloud registration algorithms
International Journal of Robotics Research
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This paper describes a data set collected by MITâ聙聶s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high-precision navigation system, five cameras, 12 SICK planar laser range scanners, and a Velodyne high-density laser range scanner were synchronized and logged to disk for 90 km of travel. In addition to documenting a number of large loop closures useful for developing mapping and localization algorithms, this data set also records the first robotic traffic jam and two autonomous vehicle collisions. It is our hope that this data set will be useful to the autonomous vehicle community, especially those developing robotic perception capabilities.