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http://dx.doi.org/10.7467/KSAE.2014.22.6.014

Map Building Based on Sensor Fusion for Autonomous Vehicle  

Kang, Minsung (Department of Information Communication Engineering, Yeongnam University)
Hur, Soojung (Sensor System Research Center, Korea Institute of Science & Technology)
Park, Ikhyun (Department of Information Communication Engineering, Yeongnam University)
Park, Yongwan (Department of Information Communication Engineering, Yeongnam University)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.22, no.6, 2014 , pp. 14-22 More about this Journal
Abstract
An autonomous vehicle requires a technology of generating maps by recognizing surrounding environment. The recognition of the vehicle's environment can be achieved by using distance information from a 2D laser scanner and color information from a camera. Such sensor information is used to generate 2D or 3D maps. A 2D map is used mostly for generating routs, because it contains information only about a section. In contrast, a 3D map involves height values also, and therefore can be used not only for generating routs but also for finding out vehicle accessible space. Nevertheless, an autonomous vehicle using 3D maps has difficulty in recognizing environment in real time. Accordingly, this paper proposes the technology for generating 2D maps that guarantee real-time recognition. The proposed technology uses only the color information obtained by removing height values from 3D maps generated based on the fusion of 2D laser scanner and camera data.
Keywords
Map building; Autonomous vehicle; 2D laser scanner; Camera; Sensor fusion; Occupancy grid map;
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Times Cited By KSCI : 2  (Citation Analysis)
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