A perception mechanism for supporting autonomous intersection handling in urban driving

@article{Seo2008APM,
  title={A perception mechanism for supporting autonomous intersection handling in urban driving},
  author={Young-Woo Seo and Chris Urmson},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={1830-1835}
}
Knowledge of the driving environment is essential for robotic vehicles to comply with traffic rules while autonomously traversing intersections. However, due to limited sensing coverage and continuous changes in driving conditions, rigidly-mounted sensors may not guarantee coverage of all regions of interest, all the time. Unobserved regions around intersections increase uncertainty in driving conditions. This paper describes a dynamic sensor planning method that searches for the optimal angles… CONTINUE READING

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