Cremean, Lars B. and Murray, Richard M. (2006) Model-based estimation of off-highway road geometry using single-axis LADAR and inertial sensing. In: Proceedings 2006 IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 1661-1666. ISBN 0-7803-9505-0. https://resolver.caltech.edu/CaltechAUTHORS:20110209-135047997
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Abstract
This paper applies some previously studied extended Kalman filter techniques for planar road geometry estimation to the domain of autonomous navigation of off-highway vehicles. In this work, a clothoid model of the road geometry is constructed and estimated recursively based on road features extracted from single-axis LADAR range measurements. We present a method for feature extraction of the road centerline in the image plane, and describe its application to recursive estimation of the road geometry. We analyze the performance of our method against simulated motion of varied road geometries and against closed-loop detection, tracking and following of desert roads. Our method accomodates full 6 DOF motion of the vehicle as it navigates, constructs consistent estimates of the road geometry with respect to a fixed global reference frame, and requires an estimate of the sensor pose for each range measurement.
| Item Type: | Book Section | |||||||||
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| Additional Information: | © 2006 IEEE. Issue Date: 15-19 May 2006. Date of Current Version: 26 June 2006. | |||||||||
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| Series Name: | IEEE International Conference on Robotics and Automation | |||||||||
| DOI: | 10.1109/ROBOT.2006.1641945 | |||||||||
| Record Number: | CaltechAUTHORS:20110209-135047997 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20110209-135047997 | |||||||||
| Official Citation: | Cremean, L.B.; Murray, R.M.; , "Model-based estimation of off-highway road geometry using single-axis LADAR and inertial sensing," Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on , vol., no., pp.1661-1666, 15-19 May 2006 doi: 10.1109/ROBOT.2006.1641945 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1641945&isnumber=34383 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 22098 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | Tony Diaz | |||||||||
| Deposited On: | 10 Mar 2011 00:34 | |||||||||
| Last Modified: | 09 Nov 2021 16:03 |
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