Sensing Team

1
Sensing Team

• Laura Lindzey and Pete Trautman
• 9 October 2006
• Team Scope
• The physical sensors configuration, calibration,
  interfaces (everything except their mounting)
• Gathering data were in charge of gathering and
  processing all the data about the environment
  that the whole system needs
• Data representation create and maintain some
  representation of the world, that includes all
  the information the planning/mission teams need
  to make decisions
• Summer 2006 Members
• Coordinator Pete Trautman
• Students Jeremy Ma, Laura Lindzey, David Bolin,
  Dave Rosen, Bernardo Maciel, Humberto Pereira
• JPL Andrew Howard

2
Summer 2006 Activities and Status

• Sensing Requirements
• Researched available sensors
• Derived specs from the DARPA rules that tell what
  data and of what quality we need for the race
• Dynamic fusionMapper
• Worked on modifying current mapping software to
  handle dynamic obstacles
• DATMO and Prediction
• Investigated use of bumper-mounted LADAR to track
  other vehicles
• Used particle filtering to predict motion of
  other vehicles
• Road-finding
• Looked at using edge detectors to find lane
  markings

3
Fall 2006 Activities

• Small projects
• Color camera installation/interface/calibration
• Evaluation of RADAR for urban challenge (what
  type of data could we get)
• Urban feature tracking using color vision
• Linked course EE148
• Detection and tracking of moving obstacles
• Lane detection/lane following
• Detection/recognition of other vehicles
• Better calibration routine
• Trade studies
• Gimbal none vs. pointing vs. stabilized
• Sensor suite