Title :
Laser rangefinder based road following
Author_Institution :
Dept. of Comput. Sci. & Eng., Changzhou Inst. of Technol., China
fDate :
29 July-1 Aug. 2005
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;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626637
