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Road Recognition based Extended Kalman Filter with Multi-Camera and LRF

다중카메라와 레이저스캐너를 이용한 확장칼만필터 기반의 노면인식방법

  • 변재민 (한국전자통신연구원 지능로봇제어연구팀) ;
  • 조용석 (건양대학교 전자정보공학과) ;
  • 김성훈 (한국전자통신연구원 지능로봇제어연구팀)
  • Received : 2011.02.07
  • Accepted : 2011.04.18
  • Published : 2011.05.31

Abstract

This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.

Keywords

Acknowledgement

Grant : OPRoS 프레임워크 신뢰성 보장 기술 개발

Supported by : 한국산업기술평가관리원

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