期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2006
卷号：XXXVI Part 1
出版社：Copernicus Publications
摘要：Land-based Mobile Mapping Systems (MMS) are widely used in a variety of applications; these systems generally capture image data along the corridor the vehicle travels and the collected imagery gets processed offline. The output of a state-of-the-art MMS system includes a surface description, visualization data and an inventory of major objects positioned along the mapped corridor. This is exactly the information an autonomous vehicle needs for navigation, except that it is needed in real-time, and not only the static objects but the moving ones should be mapped too. The on-the-fly mapping of the vicinity of an autonomously navigated vehicle posed a formidable challenge for the participants of both DARPA Grand Challenges. This paper provides an analysis of the real-time mapping effort through the experiences of the Ohio State University Desert Buckeyes 2005 DARPA Grand Challenge autonomous off-road vehicle entry
关键词：Navigation; Mobile Mapping; Georeferencing; Autonomous Vehicle Navigation
