For outdoor navigation, it is necessary to find the relevant features of outdoor road environments and detect drivable region for robot's motion. This paper presents a methodology for extracting the drivable road region by detecting the prominent road features and obstacles through a single laser range finder. The prominent features of roads are curbs and the road surface. The laser range finder is mounted on the mobile robot, looks down the road with a small tilt angle, and obtains two-dimensional range data. The proposed method is computationally more efficient in comparison with vision-based techniques and applicable for various road conditions in target environment. Experimental results confirm the reliability of the algorithm.


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    Titel :

    Drivable road region detection using a single laser range finder for outdoor patrol robots


    Beteiligte:
    Youjin Shin, (Autor:in) / Changbae Jung, (Autor:in) / Woojin Chung, (Autor:in)


    Erscheinungsdatum :

    01.06.2010


    Format / Umfang :

    1250811 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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