Laser-camera composite sensing for road detection and tracing

Wijesoma, WS; Kodagoda, S; Balasuriya, A

Laser-camera composite sensing for road detection and tracing

Wijesoma, WS Kodagoda, S

Balasuriya, A

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Publisher:: ACTA Press
Publication Type:: Journal Article
Citation:: International Journal of Robotics and Automation, 2005, 20 (03), pp. 145 - 157
Issue Date:: 2005-01

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Field	Value	Language
dc.contributor.author	Wijesoma, WS	en_US
dc.contributor.author	Kodagoda, S https://orcid.org/0000-0001-5175-9138	en_US
dc.contributor.author	Balasuriya, A	en_US
dc.date.issued	2005-01	en_US
dc.identifier.citation	International Journal of Robotics and Automation, 2005, 20 (03), pp. 145 - 157	en_US
dc.identifier.issn	0826-8185	en_US
dc.identifier.uri	http://hdl.handle.net/10453/15129
dc.description.abstract	An important feature in most urban roads and similar environments, such as in theme parks, campus sites, industrial estates, science parks, and the like, is the existence of pavements or curbs on either side de?ning the road boundaries. These curbs, which are mostly parallel to the road, can be harnessed to extract useful features of the road for implementing autonomous navigation or driver assistance systems. However, vision-alone methods for extraction of such curbs or road edge features with accurate depth information is a formidable task, as the curb is not conspicuous in the vision image and also requires the use of stereo images. Further, bad lighting, adverse weather conditions, nonlinear lens aberrations, or lens glare due to sun and other bright light sources can severely impair the road image quality and thus the operation of vision-alone methods. In this paper an alternative and novel approach involving the fusion of 2D laser range and monochrome vision image data is proposed to improve the robustness and reliability. Experimental results are presented to demonstrate the viability and effectiveness of the proposed methodology and its robustness to different road configurations and shadows.	en_US
dc.publisher	ACTA Press	en_US
dc.relation.ispartof	International Journal of Robotics and Automation	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Laser-camera composite sensing for road detection and tracing	en_US
dc.type	Journal Article
utslib.citation.volume	03	en_US
utslib.citation.volume	20	en_US
utslib.for	080106 Image Processing	en_US
utslib.for	080101 Adaptive Agents and Intelligent Robotics	en_US
utslib.for	08 Information and Computing Sciences	en_US
utslib.for	09 Engineering	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.consider-herdc	false	en_US
pubs.issue	03	en_US
pubs.volume	20	en_US

Abstract:

An important feature in most urban roads and similar environments, such as in theme parks, campus sites, industrial estates, science parks, and the like, is the existence of pavements or curbs on either side de?ning the road boundaries. These curbs, which are mostly parallel to the road, can be harnessed to extract useful features of the road for implementing autonomous navigation or driver assistance systems. However, vision-alone methods for extraction of such curbs or road edge features with accurate depth information is a formidable task, as the curb is not conspicuous in the vision image and also requires the use of stereo images. Further, bad lighting, adverse weather conditions, nonlinear lens aberrations, or lens glare due to sun and other bright light sources can severely impair the road image quality and thus the operation of vision-alone methods. In this paper an alternative and novel approach involving the fusion of 2D laser range and monochrome vision image data is proposed to improve the robustness and reliability. Experimental results are presented to demonstrate the viability and effectiveness of the proposed methodology and its robustness to different road configurations and shadows.

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http://hdl.handle.net/10453/15129