Stereo Perception on an Off-Road Vehicle
نویسندگان
چکیده
Ab8tnzctThis paper presents a vehicle for autonomous &-road navigation built in the framework of DAFWA’s PerceptOR program. Special emphask is given to the percep tion system. A set of three stereo camera pairs pravide calor and SD data in a wide fleld of view (-ter 100 d e gree) at high resolution (2160 by 480 pixel) and high frame rates (6 H5). Thin is made possible by integrating a powerful image processing hardware called Aeadia. These high data rates require efeeient sensor fusion, terrain reconstruction and path planning algorithms. The paper quantiflea sensor performance and shows examples of successful obstacle avoidance.
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