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This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data. The vehicle architecture was designed to handle the original DARPA Urban Challenge requirements of perceiving and navigating a road network with(More)
This technical report describes Team MIT's approach to the DARPA Urban Challenge. We have developed a novel strategy for using many inexpensive sensors, mounted on the vehicle periphery, and calibrated with a new cross­modal calibration technique. Lidar, camera, and radar data streams are processed using an innovative, locally smooth state representation(More)
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