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Team Cornell's Skynet is an autonomous Chevrolet Tahoe built to compete in the 2007 DARPA Urban Challenge. Skynet consists of many unique subsystems, including actua-tion and power distribution designed in-house, a tightly coupled attitude and position es-timator, a novel obstacle detection and tracking system, a system for augmenting position estimates(More)
Midway through the 2007 DARPA Urban Challenge, MIT's autonomous Land Rover LR3 'Talos' and Team Cornell's autonomous Chevrolet Tahoe 'Skynet' collided in a low-speed accident, one of the first well-documented collisions between two full-size autonomous vehicles. This collaborative study between MIT and Cor-nell examines the root causes of the collision,(More)
— This study presents the PosteriorPose algorithm, a Bayesian particle filtering approach for augmenting GPS and inertial navigation solutions with vision-based measurements of nearby lanes and stoplines referenced against a known map of environmental features. These relative measurements are shown to improve the quality of the navigation solution when GPS(More)