This work is motivated by the following two potential applications: 1) enhancing driving safety and 2) collecting traffic data in a large dynamic urban environment. A laser-scanner-based approach is proposed. The problem is formulated as a simultaneous localization and mapping (SLAM) with object tracking and classification, where the focus is on managing a mixture of data from both dynamic and static objects in a highly dynamic environment. A trajectory-oriented closure is also proposed using the sporadically available global positioning system (GPS) measurements in urban areas to assist for global accuracy, particularly when the vehicle makes a noncyclical measurement in a large outdoor environment. Experiments are conducted using the data that were collected along a course near 4.5 km in a highly dynamic environment. Possibilities of the approaches toward the two potential applications are demonstrated, and avenues for future works are discussed.


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    Titel :

    A Laser-Scanner-Based Approach Toward Driving Safety and Traffic Data Collection


    Beteiligte:
    Huijing Zhao, (Autor:in) / Chiba, M. (Autor:in) / Shibasaki, R. (Autor:in) / Xiaowei Shao, (Autor:in) / Jinshi Cui, (Autor:in) / Hongbin Zha, (Autor:in)


    Erscheinungsdatum :

    2009-09-01


    Format / Umfang :

    1606385 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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