A. Broggi, S. Debattisti, P. Grisleri, M. Panciroli
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This paper presents the design, the setup, and the architecture of a new class of autonomous vehicles prototype. The car is equipped with 26 cameras, divided into 13 stereo pairs. Four stereo systems are dedicated to the reconstruction of the near area surrounding the vehicle, other nine are dedicated to the 3D reconstruction of the far driving area. Additionally four laserscanners, and a high performance GPS/IMU unit provide more information on the ground truth to measure the validity of the data obtained with vision. The autonomous driving system, the perception system, and the processing system have been installed in the vehicle taking extra care for an as-clean-as-possible integration with te aim of setting a new state of the art level for this kind of setup. A Human Machine Interface, allows the driver to control all the functions of the systems using a touch screen. A high precision synchronization system coupled with a custom software architecture allows to obtain recordings from all sensors installed.
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