文件名称:
Obstacle Detection and Tracking for the Urban Challenge 障碍物检测跟踪
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文件大小: 369kb
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上传时间: 2018-02-09
详细说明： This paper describes the obstacle detection and tracking algorithms developed for Boss, which is Carnegie Mellon University ’s winning entry in the 2007 DARPA Urban Challenge. We describe the tracking subsystem and show how it functions in the context of the larger perception system. The tracking subsystem gives the robot the ability to understand complex scenarios of urban driving to safely operate in the proximity of other vehicles. The tracking system fuses sensor data from more than a dozen sensors with additional informatio n about the environment to generate a coherent situational model. A novel multiple-model approach is used to track the objects based on the quality of the sensor data. Finally, the architecture of the tracking subsystem explicitly abstracts each of the levels of processing. The subsystem can easily be extended by adding new sensors and validation algorithms. ...展开收缩
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