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Vehicle detection and tracking for the urban challenge
- in Proc. 5. Workshop Fahrerassistenzsysteme FAS2008
, 2008
"... Abstract: The Urban Challenge 2007 was a race of autonomous vehicles through an urban environment organized by the U.S. government. During the competition the vehicles encountered various typical scenarios of urban driving. Here they had to interact with other traffic which was human or machine driv ..."
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Abstract: The Urban Challenge 2007 was a race of autonomous vehicles through an urban environment organized by the U.S. government. During the competition the vehicles encountered various typical scenarios of urban driving. Here they had to interact with other traffic which was human or machine driven. This paper describes the perception approach taken by Team Tartan Racing, winner of the competition. A focus is set on the detection and tracking of other vehicles around the robot. The presented approach allows a situation specific interpretation of perception data through situation assessment algorithms keeping the perception algorithms situation independent.
Team AnnieWAY’s Autonomous System
"... Abstract. This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the DARPA Urban Challenge 2007 competition. After describing the main challenges imposed and the major hardware components, we outline th ..."
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Abstract. This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the DARPA Urban Challenge 2007 competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. A recent laser scanner plays the prominent role in the perception of the environment. It measures range and reflectivity for each pixel. While the former is used to provide 3D scene geometry, the latter allows robust lane marker detection. Mission and maneuver selection is conducted via a concurrent hierarchical state machine that specifically ascertains behavior in accordance with California traffic rules. We conclude with a report of the results achieved during the competition. 1
An analysis of impostor based level of detail approximations for LIDAR data
- Advances in Visual Computing
, 2011
"... Abstract. LIDAR (Light Detection and Ranging) [1] is a remote sensing tech-nology that is growing in popularity in varied and diverse disciplines. Modern LIDAR systems can produce substantial amounts of data in very brief amounts of time, so one of the greatest challenges facing researchers is proce ..."
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Abstract. LIDAR (Light Detection and Ranging) [1] is a remote sensing tech-nology that is growing in popularity in varied and diverse disciplines. Modern LIDAR systems can produce substantial amounts of data in very brief amounts of time, so one of the greatest challenges facing researchers is processing and visualizing all of this information, particularly in real time. Ideally, a scientific visualization of a set of LIDAR data should provide an accurate view of all the available information; however, sometimes it is beneficial to exchange a small portion of that accuracy for the increased usability and flexibility of a real-time interactive display. The goal of this research is to characterize under what con-ditions the level-of-detail rendering technique known as impostors [2–4] can ef-fectively optimize the inherent trade-offs between accuracy and interactivity in large-scale point cloud datasets. 1
M.Sc. in Aeronautics and Astronautics from Stanford
"... Program (SSP) of 2011 held at the Technical University of Graz in Austria. His research interests are in global navigation satellite and augmentation systems, orbital mechanics, and space applications. Todd Walter is a senior research engineer in the GPS ..."
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Program (SSP) of 2011 held at the Technical University of Graz in Austria. His research interests are in global navigation satellite and augmentation systems, orbital mechanics, and space applications. Todd Walter is a senior research engineer in the GPS
Process · 3D Point Cloud
"... Abstract Ground segmentation is a key component for Autonomous Land Ve-hicle (ALV) navigation in an outdoor environment. This paper presents a novel algorithm for real-time segmenting three-dimensional scans of various terrains. An individual terrain scan is represented as a circular polar grid map ..."
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Abstract Ground segmentation is a key component for Autonomous Land Ve-hicle (ALV) navigation in an outdoor environment. This paper presents a novel algorithm for real-time segmenting three-dimensional scans of various terrains. An individual terrain scan is represented as a circular polar grid map that is divided into a number of segments. A one-dimensional Gaussian Process (GP) regression with a non-stationary covariance function is used to distinguish the ground points or obstacles in each segment. The proposed approach splits a large-scale ground segmentation problem into many simple GP regression problems with lower com-plexity, and can then get a real-time performance while yielding acceptable ground segmentation results. In order to verify the eectiveness of our approach, experi-ments have been carried out both on a public dataset and the data collected by our own ALV in dierent outdoor scenes. Our approach has been compared with two previous ground segmentation techniques. The results show that our approach can get a better trade-o between computational time and accuracy. Thus, it can lead to successive object classication and local path planning in real time. Our approach has been successfully applied to our ALV, which won the championship in the 2011 Chinese Future Challenge in the city of Ordos.
