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Driving safety and traffic data collection - A laser scanner based approach
- Source :
- 2008 IEEE Intelligent Vehicles Symposium.
- Publication Year :
- 2008
- Publisher :
- IEEE, 2008.
-
Abstract
- This research is motivated by two potential applications - enhancing driving safety and collecting traffic data in a large dynamic urban environment. A laser scanner based approach is proposed, in which SLAM (simultaneous localization and mapping) is developed with moving object detection and tracking using a laser scanner for perception, using GPS to achieve global accuracy, and using yaw rate and wheel speed to diagnose pose errors. Experiments are conducted to collect data along a course (4.5 km) with a test-bed vehicle run in a highly dynamic environment. The algorithms are examined, possibilities with respect to the two potential applications are demonstrated, and future works are discussed.
Details
- Database :
- OpenAIRE
- Journal :
- 2008 IEEE Intelligent Vehicles Symposium
- Accession number :
- edsair.doi...........5449b81f883aadc9c79c9945e3c8b40c