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http://dx.doi.org/10.9766/KIMST.2011.14.6.993

An Estimation Method of Drivable Path for Unmanned Ground Vehicle Using Camera and 2D Laser Rangefinder on Unpaved Road  

Ahn, Seong-Yong (ADD)
Kim, Chong-Hui (ADD)
Choe, Tok-Son (ADD)
Park, Yong-Woon (ADD)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.14, no.6, 2011 , pp. 993-1001 More about this Journal
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.
Keywords
Unmanned Ground Vehicle; Autonomous Navigation; Gabor Filter; Drivable Path;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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