This paper describes the sensor suite and the sensor fusion algorithms used for external environment sensing in the Ohio State University Desert Buckeyes 2005 DARPA Grand Challenge autonomous off-road vehicle entry. The external environment sensor suite included laser range£nders, a stereo vision system, a radar system, and ultrasonic range£nders. The positioning and orientation sensor suite included a precision GPS receiver, a vertical gyroscope, a digital compass, and dead reckoning wheel speed sensors. Sensor fusion was accomplished on a cell-based map using multiple con£dence measures and estimated object height. Issues arising from terrain and the estimation of a ground pro£le ahead of the vehicle are also discussed.


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    Titel :

    Sensing and Sensor Fusion for the 2005 Desert Buckeyes DARPA Grand Challenge Offroad Autonomous Vehicle


    Beteiligte:
    Redmill, K.A. (Autor:in) / Martin, J.I. (Autor:in) / Ozguiner, U. (Autor:in)


    Erscheinungsdatum :

    2006-01-01


    Format / Umfang :

    4070814 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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