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http://dx.doi.org/10.5302/J.ICROS.2011.17.6.521

Lane Marking Detection of Mobile Robot with Single Laser Rangefinder  

Jung, Byung-Jin (Sungkyunkwan University)
Park, Jun-Hyung (Sungkyunkwan University)
Kim, Taek-Young (Hyundai Engineering)
Kim, Deuk-Young (HMC)
Moon, Hyung-Pil (Sungkyunkwan University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.6, 2011 , pp. 521-525 More about this Journal
Abstract
Lane marking detection is one of important issues in the field of autonomous mobile robot. Especially, in urban environment, like pavement roads of downtown or tour tracks of Science Park, which have continuous patterns on the surface of the road, the lane marking detection becomes more important ability. Although there were many researches about lane detection and lane tracing, many of them used vision sensors mainly to detect lane marking. In this paper, we obtain 2 dimensional library data of 'Intensity' and 'Distance' using one laser rangefinder only. We design a simple classifier and filtering algorithm for the lane detection which uses only one LRF (Laser Range Finder). Allowing extended usage of LRF, this research provides more functionality not only in range finding but also in lane detecting to mobile robots. This work will be technically helpful for robot developers to design more simple and efficient autonomous driving system using LRF.
Keywords
laser rangefinder; intensity of reflected laser; autonomous mobile robot; lane detection;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 1
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