Sensor Architecture and Data Fusion for Robotic Perception in Urban Environments atthe 2007 DARPA Urban Challenge

摘要

We will demonstrate the sensor and data fusion concept of the 2007 DARPA Urban Challenge vehicle assembled by Team CarOLO, Technische Universitat Braunschweig. The perception system is based on a hybrid fusion concept, combining object and grid based approaches in order to comply with the requirements of an urban environment. A variety of sensor systems and technologies is applied, providing a. 360 degree view area around the vehicle. Within the object based subsystem, obstacles (static and dynamic) are tracked using an Extended Kalman Filter capable of tracking arbitrary contour shapes. Additionally, the grid based subsystem extracts drivability information about the vehicle's driveway by combining the readings of laser scanners, a mono and a stereo camera system using a Dempster-Shafer based data fusion approach. . ..