Paper Info
Title
The Single Frame Stereo Vision System for Reliable Obstacle Detection used during the 2005 DARPA Grand Challenge on TerraMaxTM
Abstract
Autonomous driving in off-road environments re- quires 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 —both 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 TerraMaxTM 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 detection.
Year
DOI
Venue
2006
10.1109/ITSC.2006.1706831
ITSC
Keywords
Field
DocType
computer vision,false positive,stereo vision,vision system,mathematical models
MMX,Obstacle,Computer vision,Machine vision,Instruction set,Simulation,Stereopsis,Sensor system,Artificial intelligence,Challenge course,Engineering,False positive paradox
Conference
Citations 
PageRank 
References 
18
2.77
11
Authors
4
Name
Order
Citations
PageRank
Alberto Broggi11527178.28
Claudio Caraffi212911.01
Pier Paolo Porta3738.85
Paolo Zani412411.34