Recent development of the concept of smart cities has led to an increasing demand for advanced technological solutions that drive forward the design and capabilities of utility vehicles operating in urban environments. One possibility is to exploit recent advances in computer vision to introduce a certain level of autonomy into some of the vehicle’s functionalities, e.g., an advanced driver-assistance system. Modern road sweeper vehicles are designed to possess multiple systems for maintaining the road quality and city cleanliness, such as brushes, vacuums, and great vehicle maneuverability. Introducing autonomy to these control systems lowers the burden on the human operator, thereby increasing work efficiency and overall safety, as well as making a positive impact on worker health. This paper considers a 3D curb detection system that supports autonomous road sweeping. In order to achieve this, we utilize a vision-based approach that leverages stereo depth estimation and a pre-trained semantic segmentation model. In addition, we implement a simple LiDAR-based curb detection baseline. Finally, we collected our own dataset comprised of driving sequences resembling our use-case, which is used to conduct qualitative experiments.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Road Curb Detection: ADAS for a Road Sweeper Vehicle


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Petrič, Tadej (Herausgeber:in) / Ude, Aleš (Herausgeber:in) / Žlajpah, Leon (Herausgeber:in) / Bilić, Ivan (Autor:in) / Popović, Goran (Autor:in) / Savić, Tibor Bataljak (Autor:in) / Marković, Ivan (Autor:in) / Petrović, Ivan (Autor:in)

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2023 ; Bled, Slovenia June 14, 2023 - June 16, 2023



    Erscheinungsdatum :

    2023-05-27


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Hinge device of road sweeper chassis, road sweeper chassis and road sweeper

    YANG QIFENG / LYU ZHITAO / WEN JIE et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Road sweeper

    CHO SEONG HOON | Europäisches Patentamt | 2020

    Freier Zugriff

    Road sweeper

    CHO SEONG HOON | Europäisches Patentamt | 2020

    Freier Zugriff

    Road sweeper control system, control method and road sweeper

    YAN DONG / LIANG JIANJUN / LIU HUALIANG | Europäisches Patentamt | 2022

    Freier Zugriff

    Unmanned road sweeper

    TONG GUANG / ZHU JINDONG / YIN HAO et al. | Europäisches Patentamt | 2020

    Freier Zugriff