Road curb tracking in an urban environment

Wijesoma, WS; Kodagoda, KRS; Balasuriya, AP; Challa, S

Road curb tracking in an urban environment

Wijesoma, WS Kodagoda, KRS

Balasuriya, AP Challa, S

Permalink

Publication Type:: Conference Proceeding
Citation:: Proceedings of the 6th International Conference on Information Fusion, FUSION 2003, 2003, 1 pp. 261 - 268
Issue Date:: 2003-01-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download full textAdobe PDF (578.97 kB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Wijesoma, WS	en_US
dc.contributor.author	Kodagoda, KRS https://orcid.org/0000-0001-5175-9138	en_US
dc.contributor.author	Balasuriya, AP	en_US
dc.contributor.author	Challa, S	en_US
dc.date.issued	2003-01-01	en_US
dc.identifier.citation	Proceedings of the 6th International Conference on Information Fusion, FUSION 2003, 2003, 1 pp. 261 - 268	en_US
dc.identifier.isbn	0972184449	en_US
dc.identifier.isbn	9780972184441	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11937
dc.description.abstract	Road detection and tracking is very useful in the synthesis of driver assistance and intelligent transportation systems. In this paper a methodology is proposed based on the extended Kalman filer for robust road curb detection and tracking using a combination of onboard active and passive sensors. The problem is formulated as detecting and tracking a maneuvering target in clutter using onboard sensors on a moving platform. The primary sensors utilized are a 2 dimensional SICK laser scanner, five encoders and a gyroscope, together with an image sensor (CCD camera). Compared to the active 20 laser scanner the CCD camera is capable of providing observations over an extended horizon, thus making available much useful information about the curb trend, which is exploited in mainly the laser based tracking algorithm. The advantage of the proposed image enhanced laser detection/tracking method, over laser alone detection/tracking, is illustrated using simulations and its robustness to varied road curvatures, branching, turns and scenarios, is demonstrated through experimental results. © 2003 ISlF.	en_US
dc.relation.ispartof	Proceedings of the 6th International Conference on Information Fusion, FUSION 2003	en_US
dc.relation.isbasedon	10.1109/ICIF.2003.177455	en_US
dc.title	Road curb tracking in an urban environment	en_US
dc.type	Conference Proceeding
utslib.citation.volume	1	en_US
utslib.for	0802 Computation Theory and Mathematics	en_US
dc.location.activity	Cairns, Australia	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	1	en_US

Abstract:

Road detection and tracking is very useful in the synthesis of driver assistance and intelligent transportation systems. In this paper a methodology is proposed based on the extended Kalman filer for robust road curb detection and tracking using a combination of onboard active and passive sensors. The problem is formulated as detecting and tracking a maneuvering target in clutter using onboard sensors on a moving platform. The primary sensors utilized are a 2 dimensional SICK laser scanner, five encoders and a gyroscope, together with an image sensor (CCD camera). Compared to the active 20 laser scanner the CCD camera is capable of providing observations over an extended horizon, thus making available much useful information about the curb trend, which is exploited in mainly the laser based tracking algorithm. The advantage of the proposed image enhanced laser detection/tracking method, over laser alone detection/tracking, is illustrated using simulations and its robustness to varied road curvatures, branching, turns and scenarios, is demonstrated through experimental results. © 2003 ISlF.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/11937