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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:
    Redmill, K.A. (author) / Martin, J.I. (author) / Ozguiner, U. (author)


    Publication date :

    2006-01-01


    Size :

    4070814 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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

    Redmill, K. A. / Martin, J. I. / Ozguner, U. | British Library Conference Proceedings | 2006


    RASCAL - an Autonomous Ground Vehicle for Desert Driving in the DARPA Grand Challenge 2005

    Behringer, R. / Travis, W. / Daily, R. et al. | British Library Conference Proceedings | 2005



    The TerraMax Autonomous Vehicle Concludes the 2005 DARPA Grand Challenge

    Braid, D. / Broggi, A. / Schmiedel, G. | British Library Conference Proceedings | 2006


    The TerraMax Autonomous Vehicle concludes the 2005 DARPA Grand Challenge

    Braid, D. / Broggi, A. / Schmiedel, G. | IEEE | 2006