1. CS/EE/ME 75, 9 Oct 06Laura Lindzey1 Sensing Team Laura Lindzey and Pete Trautman 9 October 2006 Team Scope: The physical sensors: configuration, calibration, interfaces (everything except their mounting) Gathering data: we’re 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. CS/EE/ME 75, 9 Oct 06Laura Lindzey2 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. CS/EE/ME 75, 9 Oct 06Laura Lindzey3 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