TerraMax vision at the urban challenge 2007
IEEE Transactions on Intelligent Transportation Systems
Efficient multisensory barrier for obstacle detection on railways
IEEE Transactions on Intelligent Transportation Systems
Noise and illumination invariant road detection based on vanishing point
IScIDE'12 Proceedings of the third Sino-foreign-interchange conference on Intelligent Science and Intelligent Data Engineering
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Autonomous driving in off-road environments requires an exceptionally capable sensor system, particularly given that the unstructured environment does not provide many of the cues available in on-road environments. This paper presents a complex vision system, which is able to provide the two basic sensorial capabilities needed by autonomous vehicle navigation in extreme environments: obstacle detection and path detection. A variable-width-baseline (up to 1.5 m) single-frame stereo system is used for pitch estimation and obstacle detection, whereas a decision-network approach is used to detect the drivable path by a monocular vision system. The system has been field tested on the TerraMax vehicle, which is one of the only five vehicles to complete the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge course.