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

Youjin Shin, Changbae Jung, Woo Jin Chung

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

25 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 publicationIEEE Intelligent Vehicles Symposium, Proceedings
Pages877-882
Number of pages6
DOIs
Publication statusPublished - 2010 Sep 17
Event2010 IEEE Intelligent Vehicles Symposium, IV 2010 - La Jolla, CA, United States
Duration: 2010 Jun 212010 Jun 24

Other

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

Fingerprint

Laser Range Finder
Range finders
Robot
Robots
Curbs
Lasers
Tilt
Mobile Robot
Mobile robots
Navigation
Angle
Target
Necessary
Motion
Methodology
Experimental Results
Range of data
Vision

ASJC Scopus subject areas

  • Computer Science Applications
  • Automotive Engineering
  • Modelling and Simulation

Cite this

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

Drivable road region detection using a single laser range finder for outdoor patrol robots. / Shin, Youjin; Jung, Changbae; Chung, Woo Jin.

IEEE Intelligent Vehicles Symposium, Proceedings. 2010. p. 877-882 5548080.

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

Shin, Y, Jung, C & Chung, WJ 2010, Drivable road region detection using a single laser range finder for outdoor patrol robots. in IEEE Intelligent Vehicles Symposium, Proceedings., 5548080, pp. 877-882, 2010 IEEE Intelligent Vehicles Symposium, IV 2010, La Jolla, CA, United States, 10/6/21. https://doi.org/10.1109/IVS.2010.5548080
Shin Y, Jung C, Chung WJ. Drivable road region detection using a single laser range finder for outdoor patrol robots. In IEEE Intelligent Vehicles Symposium, Proceedings. 2010. p. 877-882. 5548080 https://doi.org/10.1109/IVS.2010.5548080
Shin, Youjin ; Jung, Changbae ; Chung, Woo Jin. / Drivable road region detection using a single laser range finder for outdoor patrol robots. IEEE Intelligent Vehicles Symposium, Proceedings. 2010. pp. 877-882
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