Drivable road region detection using a single laser range finder for outdoor patrol robots

Youjin Shin, Changbae Jung, Woojin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2010 IEEE Intelligent Vehicles Symposium, IV 2010
Pages877-882
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE Intelligent Vehicles Symposium, IV 2010 - La Jolla, CA, United States
Duration: 2010 Jun 212010 Jun 24

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings

Other

Other2010 IEEE Intelligent Vehicles Symposium, IV 2010
CountryUnited States
CityLa Jolla, CA
Period10/6/2110/6/24

ASJC Scopus subject areas

  • Modelling and Simulation
  • Automotive Engineering
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Drivable road region detection using a single laser range finder for outdoor patrol robots'. Together they form a unique fingerprint.

  • Cite this

    Shin, Y., Jung, C., & Chung, W. (2010). Drivable road region detection using a single laser range finder for outdoor patrol robots. In 2010 IEEE Intelligent Vehicles Symposium, IV 2010 (pp. 877-882). [5548080] (IEEE Intelligent Vehicles Symposium, Proceedings). https://doi.org/10.1109/IVS.2010.5548080