Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The Development of Sensor System and 3D World Modeling for Autonomous Vehicle

무인 차량을 위한 센서 시스템 개발 및 3차원 월드 모델링

  • 김시종 (한국 과학기술원 로봇 연구실) ;
  • 강정원 (한국 과학기술원 로봇 연구실) ;
  • 최윤근 (한국 과학기술원 로봇 연구실) ;
  • 박상운 (한국 과학기술원 로봇 연구실) ;
  • 심인욱 (한국 과학기술원 로봇 연구실) ;
  • 안승욱 (한국 과학기술원 로봇 연구실) ;
  • 정명진 (한국 과학기술원 로봇 연구실)
  • Received : 2011.02.20
  • Accepted : 2011.03.29
  • Published : 2011.06.01
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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

References

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