Multi lidar system for fast obstacle detection

Author

Inwook Shim ; Dong-Geol Choi ; Seunghak Shin ; In So Kweon

Author_Institution

Div. of Future Vehicles, KAIST, Daejeon, South Korea

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

557

Lastpage

558

Abstract

In recent year, much progress has been made in outdoor obstacle detection. However, for fast moving robotic platform, high-speed obstacle detection is still a daunting challenge. This paper describes laser based system for the fast obstacle detection. To do this, we introduce how to configure laser range finders by using a plane ruler for outdoor robotic platform. For high-speed obstacle detection, we use the gradient of points. We evaluate processing time and accuracy of our system by testing on real drive track including off-road course.

Keywords

collision avoidance; laser ranging; optical radar; fast moving robotic platform; fast obstacle detection; high-speed obstacle detection; laser range finders; laser-based system; multi lidar system; off-road course; outdoor obstacle detection; outdoor robotic platform; plane ruler; processing time evaluation; real drive track; Laser fusion; Measurement by laser beam; Robot sensing systems; Vehicles; autonomous vehicle; laser range finder; obstacle detection; sensor architecture;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Conference_Location

Daejeon

Print_ISBN

978-1-4673-3111-1

Electronic_ISBN

978-1-4673-3110-4

Type

conf

DOI

10.1109/URAI.2012.6463074

Filename

6463074