This paper describes the vehicle detection and tracking system developed by Team Tartan Racing, winner of the Urban Challenge 2007. The Urban Challenge was a race for autonomous cars where the vehicles travelled through an urban environment. The vehicles participating in the race had to drive a distance of 60 miles without any human control. They had to deal with robot and human driven traffic and had to obey to the traffic rules. The paper describes the key challenges for the development of the system and the principles and design decisions which guided its implementation. An overview about the system architecture and examples of the system in action are given. The article ends with a short discussion of the approach.
Vehicle detection and tracking for the Urban Challenge
Fahrzeugerkennung und -verfolgung für den Wettbewerb Urban Challenge
2008
17 Seiten, 9 Bilder, 1 Tabelle, 9 Quellen
Aufsatz (Konferenz)
Englisch
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