DocumentCode :
145430
Title :
Map Building Based on Sensor Fusion for Autonomous Vehicle
Author :
Minsung Kang ; Soojung Hur ; Wonkyo Jeong ; Yongwan Park
Author_Institution :
Inf. & Com. Eng., Yeongnam Univ., Gyeongsanbukdo, South Korea
fYear :
2014
fDate :
7-9 April 2014
Firstpage :
490
Lastpage :
495
Abstract :
An autonomous vehicle requires the technology of generating maps by recognizing the surrounding environment. The recognition of the vehicle´s environment can be achieved by using distance information from a 2D laser scanner and color information from a camera. Such sensor information is used to generate 2D or 3D maps. A 2D map is used mostly for generating routs, because it contains information only about a section. In contrast, a 3D map involves height values also, and therefore can be used not only for generating routs but also for finding out vehicle accessible space. Nevertheless, an autonomous vehicle using 3D maps has difficulty in recognizing environment in real time. Accordingly, this paper proposes the technology for generating 2D maps that guarantee real-time recognition. The proposed technology uses only the color information obtained by removing height values from 3D maps generated based on the fusion of 2D laser scanner and camera data.
Keywords :
image colour analysis; mobile robots; object recognition; optical scanners; sensor fusion; 2D laser scanner; 2D map; 3D map; autonomous vehicle; color information; distance information; height value; map building; sensor fusion; vehicle accessible space; Information technology; 2D Laser Scanner; Autonomous Vehicle; Camera; Map Building; Occupancy Grid Map; Sensor Fusion;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Information Technology: New Generations (ITNG), 2014 11th International Conference on
Conference_Location :
Las Vegas, NV
Print_ISBN :
978-1-4799-3187-3
Type :
conf
DOI :
10.1109/ITNG.2014.30
Filename :
6822245
Link To Document :
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