Obstacle Detection and Tracking for the Urban Challenge
- 24 April 2009
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Intelligent Transportation Systems
- Vol. 10 (3), 475-485
- https://doi.org/10.1109/tits.2009.2018319
Abstract
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 information 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.Keywords
This publication has 15 references indexed in Scilit:
- A robust approach to high‐speed navigation for unrehearsed desert terrainJournal of Field Robotics, 2006
- On-road vehicle detection: a reviewIEEE Transactions on Pattern Analysis and Machine Intelligence, 2006
- IMM object tracking for high dynamic driving maneuversPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- An efficient multitarget tracking algorithm for car applicationsIEEE Transactions on Industrial Electronics, 2003
- An efficient implementation and evaluation of Reid's multiple hypothesis tracking algorithm for visual trackingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Model-based car tracking integrated with a road-followerPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Integrated obstacle and road tracking using a laser scannerPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Detection and classification of vehiclesIEEE Transactions on Intelligent Transportation Systems, 2002
- An algorithm for tracking multiple targetsIEEE Transactions on Automatic Control, 1979
- New Results in Linear Filtering and Prediction TheoryJournal of Basic Engineering, 1961