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Active Perception for Autonomous Vehicles

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Published on Oct 27, 2012

Three real vehicles - including our autonomous vehicle MuCar-3 - simulated several intersection scenarios on the test ground located at our campus. MuCar-3 was equipped with a velodyne LIDAR to record full 360°-LIDAR data. The LIDAR data was used to evaluate the proposed active perception framework offline in the laboratory. However, only an actively chosen 40°-segment of the LIDAR data was used during the experiments.
The video provides impressions of the resulting object tracking, the evolution of the position uncertainty of tracked objects and the situation dependent perception behavior during three different intersection scenarios.
More information can be found in ICRA 2012 paper: http://ieeexplore.ieee.org/xpl/articl...

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