Abstract
This paper describes a navigation method based on road detection using both a laser scanner and a vision sensor. The method is to classify the surface in front of the robot into traversable segments (road) and obstacles using the laser scanner, this classifies the area just in front of the robot (2.5 m). The front looking camera is used to classify the road from this distance and forward, taking a seed area from the laser scanner data and from this estimate the outline of the visible part of the road. The method has been tested successfully on gravelled and asphalt roads in a national park environment.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 10th International Symposium on Experimental Robotics 2006 (ISER '06) |
| Volume | 39 |
| Publisher | Springer |
| Publication date | 2008 |
| Pages | 111-120 |
| ISBN (Print) | 978-3-540-77456-3 |
| Publication status | Published - 2008 |
| Event | 10th International Symposium on Experimental Robotics 2006 - Rio de Janeiro, Brazil Duration: 6 Jul 2006 → 12 Jul 2006 Conference number: 10 |
Conference
| Conference | 10th International Symposium on Experimental Robotics 2006 |
|---|---|
| Number | 10 |
| Country/Territory | Brazil |
| City | Rio de Janeiro |
| Period | 06/07/2006 → 12/07/2006 |
Keywords
- laser scanner
- Robot
- vision
- autonomous navigation
- ladar