대한임베디드공학회논문지 (IEMEK Journal of Embedded Systems and Applications)

대한임베디드공학회 (Institute of Embedded Engineering of Korea)
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2D 라이다 데이터베이스 기반 장애물 분류 기법

Obstacle Classification Method Based on Single 2D LIDAR Database

  • 투고 : 2014.09.03
  • 심사 : 2014.10.16
  • 발행 : 2015.06.30
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초록

We propose obstacle classification method based on 2D LIDAR(Light Detecting and Ranging) database. The existing obstacle classification method based on 2D LIDAR, has an advantage in terms of accuracy and shorter calculation time. However, it was difficult to classifier the type of obstacle and therefore accurate path planning was not possible. In order to overcome this problem, a method of classifying obstacle type based on width data of obstacle was proposed. However, width data was not sufficient to improve accuracy. In this paper, database was established by width, intensity, variance of range, variance of intensity data. The first classification was processed by the width data, and the second classification was processed by the intensity data, and the third classification was processed by the variance of range, intensity data. The classification was processed by comparing to database, and the result of obstacle classification was determined by finding the one with highest similarity values. An experiment using an actual autonomous vehicle under real environment shows that calculation time declined in comparison to 3D LIDAR and it was possible to classify obstacle using single 2D LIDAR.

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참고문헌

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