The Single Frame Stereo Vision System for Reliable Obstacle Detection Used during the 2005 DARPA Grand Challenge on TerraMax
- 1 January 2006
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 21530009,p. 745-752
- https://doi.org/10.1109/itsc.2006.1706831
Abstract
Autonomous driving in off-road environments requires an exceptionally capable sensor system, especially given that the unstructured environment does not provide many of the cues available in on-road environments. This paper presents a variable-width-baseline (up to 1.5 meters) single-frame stereo vision system for obstacle detection that can meet the needs of autonomous navigation in extreme environments. Efforts to maximize computational speed oth in the attention given to accurate and stable calibration and the exploitation of the processors MMX and SSE instruction sets - allow a guaranteed 15 fps rate. Along with the assured speed, the system proves very robust against false positives. The system has been field tested on the TerraMax vehicle, one of only five vehicles to complete the 2005 DARPA Grand Challenge course and the only one to do so using a vision system for obstacle detectionKeywords
This publication has 15 references indexed in Scilit:
- A Laserscanner-Vision Fusion System Implemented on the TerraMax Autonomous VehiclePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Fast Object Hypotheses Generation Using 3D Position and 3D MotionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Obstacle Detection with Stereo Vision for Off-Road Vehicle NavigationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- A decision network based frame-work for visual off-road path detection problemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Quantitative Evaluation of a Novel Image Segmentation AlgorithmPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Symmetric Stereo Matching for Occlusion HandlingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Visual odometryPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- A single framework for vehicle roll, pitch, yaw estimation and obstacles detection by stereovisionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- A taxonomy and evaluation of dense two-frame stereo correspondence algorithmsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- An obstacle detection method by fusion of radar and motion stereoIEEE Transactions on Intelligent Transportation Systems, 2002