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.
Driving safety and traffic data collection - A laser scanner based approach
2008 IEEE Intelligent Vehicles Symposium ; 329-336
2008-06-01
735770 byte
Conference paper
Electronic Resource
English
Driving Safety and Traffic Data Collection - a Laser Scanner Based Approach
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