Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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An Estimation Method of Drivable Path for Unmanned Ground Vehicle Using Camera and 2D Laser Rangefinder on Unpaved Road

카메라와 2차원 레이저 거리센서를 활용한 비포장 도로 환경에서의 지상무인차량의 주행가능영역 추정 기법

  • Received : 2011.09.17
  • Accepted : 2011.11.25
  • Published : 2011.12.05
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Abstract

Unmanned ground vehicle for facility protection mostly uses model of territory for autonomous navigation. However, modeling of territory using several sensors is highly time consuming and sometimes inefficient for road application. Therefore, an estimation of drivable path based on features of road is required for high speed autonomous navigation on road. In this paper, an estimation method of drivable path using camera and 2D laser rangefinder is proposed. First, a vanishing point is estimated based on image data from CCD camera. Second, a road width is estimated based on range data from 2D laser rangefinder. Finally, the drivable path is estimated by fusing the vanishing point and the road width. The proposed method is tested on both well-structured road and unpaved road like cross-country situation.

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References

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