From the DARPA Grand to Urban Challenge: Mobile Mapping Supporting Autonomous Vehicle Navigation

Charles Toth, Dorota A. Grejner-Brzezinska, and Umit Ozguner

Abstract:	The new DARPA Urban Challenge will be quite a change from the previous two Grand Challenge competitions. This paper describes the real-time mapping component of the OSU DARPA Challenge autonomous vehicle navigation system, as it transitions from the off-road to urban environment. In particular, it provides an analysis of the overall mapping effort, including the real-time object space reconstruction by sensor fusion, the development of a geospatial database, path-planning, and interactive route analysis. Based on the race experiences of the OSU TerraMax and Desert Buckeye teams in 2004 and 2005, respectively, the system is further expanded, including new extensions, currently under research, to prepare for the 2007 Urban Challenge race.
Published in:	Proceedings of the 2007 National Technical Meeting of The Institute of Navigation January 22 - 24, 2007 The Catamaran Resort Hotel San Diego, CA
Pages:	1196 - 1200
Cite this article:	Toth, Charles, Grejner-Brzezinska, Dorota A., Ozguner, Umit, "From the DARPA Grand to Urban Challenge: Mobile Mapping Supporting Autonomous Vehicle Navigation," Proceedings of the 2007 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2007, pp. 1196-1200.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In