TY - GEN
T1 - Drivable road region detection using a single laser range finder for outdoor patrol robots
AU - Shin, Youjin
AU - Jung, Changbae
AU - Chung, Woojin
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77956508485&partnerID=8YFLogxK
U2 - 10.1109/IVS.2010.5548080
DO - 10.1109/IVS.2010.5548080
M3 - Conference contribution
AN - SCOPUS:77956508485
SN - 9781424478668
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 877
EP - 882
BT - 2010 IEEE Intelligent Vehicles Symposium, IV 2010
T2 - 2010 IEEE Intelligent Vehicles Symposium, IV 2010
Y2 - 21 June 2010 through 24 June 2010
ER -