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Published on Sep 24, 2011
Marge's sensor payload includes a nodding SICK laser for 3D point-cloud collection, a fixed SICK for 2D laser data, a CCD camera with pan-tilt and an inertial sensor.
Vehicle subsystems provide odometry from wheel encoders, collision avoidance from sonar, GPS for ground truth, and can optionally be powered from a mobile petrol generator for prolonged field operation.