다중카메라와 레이저스캐너를 이용한 확장칼만필터 기반의 노면인식방법
Road Recognition based Extended Kalman Filter with Multi-Camera and LRF
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This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers,GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.
Abstract
This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers,GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.
참고문헌 (6)
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- Haiping Lin, "Road Boundary Detection Based on the Dynamic Programming and the Randomized Hough transform", Proc. Of ISITC (2007)
- Mohamed Aly, "Real time Detection of Lane Markers in Urban Streets", Proc. Of IEEE Intelligent Vehicles Symposium, pp.7~12 (2008)
- Dezhi Gao, "A Practical Method of Road Detection for Intelligent Vehicle", Proc. Of International Conference on Automation and Logistics, pp.980~985 (2009)
- Kodagoda, Arjuna P. Balasuriya, "CuTE: Curb Tracking and Estimation", IEEE Trans on Control Systems Technology, 14, pp.951~957 (2006)
- Yoshiteru Matsushita, "Simultaneous Estimation of Road Region and Ego-Motion with Multiple Road Models", Proc. Of IEEE Multisensor Fusion and Integration for Intelligent Systems, pp.526~532 (2008)