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.
Sensing and Sensor Fusion for the 2005 Desert Buckeyes DARPA Grand Challenge Offroad Autonomous Vehicle
2006 IEEE Intelligent Vehicles Symposium ; 528-533
2006-01-01
4070814 byte
Conference paper
Electronic Resource
English
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