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This paper presents the TerraMax vision systems used during the 2007 DARPA Urban Challenge. First, a description of the different vision systems is provided, focusing on their hardware configuration, calibration method, and tasks. Then, each component is described in detail, focusing on the algorithms and sensor fusion opportunities: obstacle detection,… (More)
This paper presents the TerraMax autonomous vehicle, which competed in the DARPA Urban Challenge 2007. The sensing system is mainly based on passive sensors, in particular four vision subsystems are used to cover a 360deg area around the vehicle, and to cope with the problems related to complex traffic scenes navigation. A trinocular system derived from the… (More)
This paper surveys the different technologies involved in the development of computer vision applications for Intelligent Vehicles derived from the 15 year experience of VisLab. Some illustrative examples are also discussed.