Drivable Road Region Detection using a Single Laser Range Finder for Outdoor Patrol Robots

被引：15

作者：

Shin, Youjin ^{[1
]}

Jung, Changbae ^{[1
]}

Chung, Woojin ^{[1
]}

机构：

[1] Korea Univ, Sch Mech Engn, Seoul 136713, South Korea

来源：

2010 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) | 2010年

关键词：

D O I：

10.1109/IVS.2010.5548080

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

For outdoor navigation, it is necessary to find the relevant features of outdoor road environments and detect drivable region for robot's motion. This paper presents a methodology for extracting the drivable road region by detecting the prominent road features and obstacles through a single laser range finder. The prominent features of roads are curbs and the road surface. The laser range finder is mounted on the mobile robot, looks down the road with a small tilt angle, and obtains two-dimensional range data. The proposed method is computationally more efficient in comparison with vision-based techniques and applicable for various road conditions in target environment. Experimental results confirm the reliability of the algorithm.

引用

页码：877 / 882

页数：6

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