Building a mobile platform for spatiotemporal integration of 3D outdoor world models

Author

Kang, Jungwon ; Kim, Sijong ; Choe, Yungeun ; Park, Sang Un ; Shim, Inwook ; Ahn, Seunguk ; Chung, Myung Jin

Author_Institution

Dept. of Electr. Eng., KAIST, Daejeon, South Korea

fYear

2011

fDate

9-11 Feb. 2011

Firstpage

1

Lastpage

5

Abstract

This paper introduces our mobile platform, which equips multiple sensors for 3D outdoor world modeling. The data from GPS and IMU on the platform are fused to provide vehicle pose on the ground. The laterally installed LRFs(Laser Range Finder) on each side of the vehicle give environment perception information. The data from the LRFs are fused with cameras in order to make colored LRF points. With these multiple sensors, we have successfully built spatiotemporal integrated 3D world models of outdoor environments.

Keywords

Global Positioning System; automotive electronics; laser ranging; sensor fusion; 3D outdoor world modeling; GPS; IMU; automotive electronics; laser range finder; mobile platform; sensor fusion; spatiotemporal integration; Cameras; Global Positioning System; Robots; Sensors; Solid modeling; Three dimensional displays; Vehicles; intelligent vehicle; sensor fusion; world modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Frontiers of Computer Vision (FCV), 2011 17th Korea-Japan Joint Workshop on

Conference_Location

Ulsan

Print_ISBN

978-1-61284-677-4

Electronic_ISBN

978-1-61284-676-7

Type

conf

DOI

10.1109/FCV.2011.5739737

Filename

5739737