상세정보
학술대회
Autonomous Driving through Curb Detection and Tracking
- 발행일
- 201111
- 출처
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2011, pp.273-277
- 협약과제
- 10MC9300, OPRos프레임워크 신뢰성 보장 기술개발, 김성훈
- 초록
- This paper presents a strategy to detect and track the curb which means a stone separates road and non-road using a LRF (Laser Range Finder) with particle filter. Our approach to find the position of curb involves two stages. In first stage, Curb detection through curb geometric shape recognize and detect the position of the curbs in laser scanner data. A second stage processes is the curb estimation and tracking using particle filter with laser scanner. Experiments are carried out at the autonomous vehicle in real structured road, and results show the promising performance of the presented method. © 2011 IEEE.
- KSP 제안 키워드
- Autonomous vehicle, Curb detection, Detection and tracking, First stage, Geometric shape, Laser range finder, Laser scanner data, Particle filters, autonomous driving, non-road