Laser rangefinder based road following

Author

Xu, Zezhong

Author_Institution

Dept. of Comput. Sci. & Eng., Changzhou Inst. of Technol., China

Volume

2

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

713

Abstract

Road following plays an important role in ALV autonomous navigation. Vision based method is not robust to different weather, illuminance, road surface condition. In this paper we propose a laser rangefinder-based road following in semi-structural environment. The road edge features are detected and used to deduce the position of road boundary. A filter method is employed to track the parameter of road boundary. It is free of the shadow, bright spot and dirty road surface. Proposed method can perform the road following and obstacle detection simultaneously in day and night. It works well in our ALV equipped with IBEO laser scanner.

Keywords

edge detection; feature extraction; filtering theory; laser ranging; mobile robots; navigation; vehicles; ALV autonomous navigation; IBEO laser scanner; filter method; laser rangefinder; obstacle detection; road edge features detection; road following; roadside detection; vision based method; Automated highways; Computer vision; Image edge detection; Laser radar; Laser theory; Navigation; Optical attenuators; Radar tracking; Road transportation; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626637

Filename

1626637