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Model-based estimation of off-highway road geometry using single-axis LADAR and inertial sensing

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
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ROBOT.2006.1641945 DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1641945PublisherUNSPECIFIED
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2006 IEEE. Issue Date: 15-19 May 2006. Date of Current Version: 26 June 2006.
Other Numbering System:
Other Numbering System NameOther Numbering System ID
INSPEC Accession Number9120493
Series Name:IEEE International Conference on Robotics and Automation
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:03 Oct 2019 02:34

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