All but one of the 23 finalists in the 2005 race surpassed the 11.78 km (7.36 mile) distance completed by the best vehicle in the 2004 race.
Vehicles in the 2005 race passed through three narrow tunnels, included more than 100 sharp turns. The race concluded through Beer Bottle Pass, a winding mountain pass with sheer drop-offs on both sides.
Dynamic State Estimation - the vehicle state is comprised of two groups of variables: parameters characterizing the dynamic state of the vehicle and parameters pertaining to the health of the vehicle.
Vision Mapping - employed to overcome the limited range of laser perception.
Path Planning and Steering Control - which determines the desired path of the vehicle, and is continuously communicated to a steering controller, which is responsible for the motor commands to the steering column.
Velocity Control - Intelligent velocity control is essential to avoid fishtailing and to protect the vehicle from the effects of ruts and uneven terrain.
Adaptive Vision This figure illustrates the processing stages of the computer vision system: (a) a raw image; (b) the processed image with the laser quadrilateral and a pixel classification; (c) the pixel classification before thresholding; and (d) horizon detection for sky removal.
Adaptive Vision These images illustrate the rapid adaptation of Stanley’s computer vision routines. When the laser predominately screens the paved surface, the grass is not classified as drivable. As Stanley moves into the grass area, the classification changes.