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http://dx.doi.org/10.5302/J.ICROS.2011.17.6.531

The Development of Sensor System and 3D World Modeling for Autonomous Vehicle  

Kim, Si-Jong (Korea Advanced Institute of Science and Technology)
Kang, Jung-Won (Korea Advanced Institute of Science and Technology)
Choe, Yun-Geun (Korea Advanced Institute of Science and Technology)
Park, Sang-Un (Korea Advanced Institute of Science and Technology)
Shim, In-Wook (Korea Advanced Institute of Science and Technology)
Ahn, Seung-Uk (Korea Advanced Institute of Science and Technology)
Chung, Myung-Jin (Korea Advanced Institute of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.6, 2011 , pp. 531-538 More about this Journal
Abstract
This paper describes a novel sensor system for 3D world modeling of an autonomous vehicle in large-scale outdoor environments. When an autonomous vehicle performs path planning and path following, well-constructed 3D world model of target environment is very important for analyze the environment and track the determined path. To generate well-construct 3D world model, we develop a novel sensor system. The proposed novel sensor system consists of two 2D laser scanners, two single cameras, a DGPS (Differential Global Positioning System) and an IMU (Inertial Measurement System). We verify the effectiveness of the proposed sensor system through experiment in large-scale outdoor environment.
Keywords
autonomous vehicle; sensor system; 3D world model;
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