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Integrated Stereovision for an Autonomous Ground Vehicle

By Co-mentor Kristo Kriechbaum

Abstract

This report describes development of the stereovision sensing system on an autonomous vehicle competing in the DARPA Grand Challenge, a desert race for robotic vehicles. A basic stereovision system was in place when the project started, but it had not been tested on the new vehicle. It turned out a lot of problems needed to be solved before stereovision was ready to be integrated into the full system. New algorithms were designed and implemented to improve camera focus and stereovision processing, and to remove noise in the data. A lot of testing was performed to ensure data quality before integration into the sensor suite of the vehicle. Results show that, even though the vehicle is capable of obstacle avoidance and navigation using only stereovision sensing, the quality of stereovision data needs to be improve

Year: 2008
OAI identifier: oai:CiteSeerX.psu:10.1.1.134.2820
Provided by: CiteSeerX
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