DocumentCode :
3504556
Title :
Road detection and mapping using 3D rolling window
Author :
Qin, B. ; Chong, Z.J. ; Bandyopadhyay, T. ; Ang, M.H. ; Frazzoli, Emilio ; Rus, Daniela
Author_Institution :
Nat. Univ. of Singapore, Singapore, Singapore
fYear :
2013
fDate :
23-26 June 2013
Firstpage :
1239
Lastpage :
1246
Abstract :
This paper presents a method of road detection and mapping using accumulated 3D data from 2D scans. The idea of 3D rolling window is introduced, and its probabilistic characteristics are studied. A cascaded road detection process is developed with region-growing and classification methods. A probabilistic framework is utilized for road mapping purposes with the detection results. The performance of detection and mapping algorithm is evaluated through experiments.
Keywords :
image classification; object detection; probability; roads; traffic information systems; 3D rolling window; cascaded road detection process; classification methods; detection algorithm performance; mapping algorithm performance; probabilisitc characteristics; probabilistic framework; region-growing methods; road detection method; road mapping method; Laser beams; Laser radar; Probabilistic logic; Roads; Surface treatment; Three-dimensional displays; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2013 IEEE
Conference_Location :
Gold Coast, QLD
ISSN :
1931-0587
Print_ISBN :
978-1-4673-2754-1
Type :
conf
DOI :
10.1109/IVS.2013.6629636
Filename :
6629636
Link To Document :
بازگشت