Title :
Automatic guidance of a vehicle based on DGPS and a 3D map
Author :
Wang, Lei ; Emura, Takashi ; Ushiwata, Takashi
Author_Institution :
Dept. of Mechatronics & Precision Eng., Tohoku Univ., Sendai, Japan
Abstract :
This paper presents an automatic guidance of an autonomous land vehicle based on DGPS and a 3D map. To compensate the positioning error of GPS, we used environmental sensing systems including video cameras, ultrasonic sensors and a 3D scanning laser rangefinder. The 3D map provides 3D environmental information and indicates landmarks for an image processing system to correct the positioning error of GPS. The image processing system also plays the role of obstacle detection. The 3D scanning laser rangefinder is used for speedy and accurate detection of obstacles. This paper describes the DGPS and a 3D map navigated driving system and presents the experimental results
Keywords :
Global Positioning System; computerised navigation; error compensation; laser ranging; mobile robots; road vehicles; robot vision; ultrasonic measurement; ultrasonic transducers; 3D environmental information; 3D map; 3D scanning laser rangefinder; DGPS; US sensors; automatic guidance; autonomous land vehicle; environmental sensing systems; image processing system; landmarks; obstacle detection; positioning error compensation; ultrasonic sensors; video cameras; Global Positioning System; Image processing; Image sensors; Intelligent sensors; Land vehicles; Laser radar; Mobile robots; Navigation; Remotely operated vehicles; Sensor systems;
Conference_Titel :
Intelligent Transportation Systems, 2000. Proceedings. 2000 IEEE
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-5971-2
DOI :
10.1109/ITSC.2000.881036
