This paper presents the TerraMax vision systems used during the 2007 DARPA Urban Challenge. First, a description of the different vision systems is provided, focusing on their hardware configuration, calibration method, and tasks. Then, each component is described in detail, focusing on the algorithms and sensor fusion opportunities: obstacle detection, road marking detection, and vehicle detection. The conclusions summarize the lesson learned from the developing of the passive sensing suite and its successful fielding in the Urban Challenge
This paper presents the VisLab Intercontinental Autonomous Challenge (VIAC), an autonomous vehicles test carried out from Parma to Shanghai between July and October 2010 by the VisLab team. The vehicle equipment is explained introducing the sensing systems which were tested during the journey. Trip details and the fi rst statistics are presented as well.Keywords: vehicle autonomous systems; platooning; computer vision.Reference to this paper should be made as follows: Broggi, A., Cerri, P., Felisa, M., Laghi, M.C., Mazzei, L. and Porta, P.P.
148A. Broggi et al.
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