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.


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    Titel :

    Driving safety and traffic data collection - A laser scanner based approach


    Beteiligte:
    Zhao, Huijing (Autor:in) / Chiba, Masaki (Autor:in) / Shibasaki, Ryosuke (Autor:in) / Katabira, Kyoichiro (Autor:in) / Cui, Jinshi (Autor:in) / Zha, Hongbin (Autor:in)


    Erscheinungsdatum :

    01.06.2008


    Format / Umfang :

    735770 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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