Back to Search
Start Over
On-line road boundary modeling with multiple sensory features, flexible road model, and particle filter
- Source :
-
Robotics & Autonomous Systems . May2011, Vol. 59 Issue 5, p274-284. 11p. - Publication Year :
- 2011
-
Abstract
- Abstract: This paper describes a method of robustly modeling road boundaries on-line for autonomous navigation. Since sensory evidence for road boundaries might change from place to place, we cannot depend on a single cue but have to use multiple sensory features. It is also necessary to cope with various road shapes and road type changes. These requirements are naturally met in the proposed particle filter-based method, which makes use of multiple features with the corresponding likelihood functions and keeps multiple road hypotheses as particles. The proposed method has been successfully applied to various road scenes with cameras and a laser range finder. To show that the proposed method is applicable to other sensors, preliminary results of using stereo instead of the laser range finder are also described. [Copyright &y& Elsevier]
- Subjects :
- *ROADS
*NAVIGATION
*MOBILE robots
*HYPOTHESIS
*AUTONOMOUS robots
*LASERS
Subjects
Details
- Language :
- English
- ISSN :
- 09218890
- Volume :
- 59
- Issue :
- 5
- Database :
- Academic Search Index
- Journal :
- Robotics & Autonomous Systems
- Publication Type :
- Academic Journal
- Accession number :
- 60380771
- Full Text :
- https://doi.org/10.1016/j.robot.2011.02.009