Automatic road clearance surveying with sensor fusion

Publication Type:
Conference Proceeding
Proceedings of the 2011 Australasian Conference on Robotics and Automation, 2011
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This paper introduces an automatic road clearance surveying (ARCS) method based on sensor fusion. Equipped with laser measurement system (LMS), camera and proprioceptive sensors (IMU and Odometer), this system is very efficient with improved personal safety. The LMS sensors measure surroundings by collecting range and remission data. Range data is processed to build up 3D model of surveyed objectives with position and attitude information from the proprioceptive sensors. Remission data is used for extracting traffic lanes. The lowest points detected within each lane are considered to be the lanes' clearance, and marked on the 3D model. Experimental results of a vehicle mounted prototype demonstrate its performance for automatic road clearance surveying.
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