Personal Mobility Vehicles (PMV) is is an important part of the Intelligent Transportation System (ITS) domain. These new transport systems have been designed for urban traffic areas, pedestrian streets, green zones and private parks. In these areas, steps and curbs make the movement of disable or mobility reduced people with PMV, and with standard chair wheels difficult. In this paper, we present a step and curb detection system based on laser sensors. This system is dedicated to vehicles able to cross over steps, for transportation systems, as well as for mobile robots. The system is based on the study of the first derivative of the altitude and highlights the use of a new algebraic derivative method adapted to laser sensor data. The system has been tested on several real scenarios. It provides the distance, altitude and orientation of the steps in front of the vehicle and offers a high level of precision, even with small steps and challenging scenarios such as stairs.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Step and curb detection for autonomous vehicles with an algebraic derivative-based approach applied on laser rangefinder data


    Contributors:


    Publication date :

    2013-06-01


    Size :

    1095772 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    STEP AND CURB DETECTION FOR AUTONOMOUS VEHICLES WITH AN ALGEBRAIC DERIVATIVE-BASED APPROACH APPLIED ON LASER RANGEFINDER DATA

    Pollard, E. / Perez, J. / Nashashibi, F. et al. | British Library Conference Proceedings | 2013


    Method of collaborative detection of autonomous transport vehicles based on laser rangefinder data

    Kamagaew, Andreas / Ten Hompel, Michael | Fraunhofer Publica | 2013

    Free access

    Laser rangefinder

    Engineering Index Backfile | 1963