Automatic road clearance surveying with sensor fusion

Ren, XT; Luo, X; Wang, JJ

Automatic road clearance surveying with sensor fusion

Ren, XT Luo, X Wang, JJ

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2011 Australasian Conference on Robotics and Automation, 2011
Issue Date:: 2011-12-01

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Field	Value	Language
dc.contributor.author	Ren, XT	en_US
dc.contributor.author	Luo, X	en_US
dc.contributor.author	Wang, JJ https://orcid.org/0000-0002-6282-0456	en_US
dc.date.issued	2011-12-01	en_US
dc.identifier.citation	Proceedings of the 2011 Australasian Conference on Robotics and Automation, 2011	en_US
dc.identifier.isbn	9780980740424	en_US
dc.identifier.uri	http://hdl.handle.net/10453/31295
dc.description.abstract	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.	en_US
dc.relation.ispartof	Proceedings of the 2011 Australasian Conference on Robotics and Automation	en_US
dc.title	Automatic road clearance surveying with sensor fusion	en_US
dc.type	Conference Proceeding
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
dc.location.activity	Monash University, Melbourne Australia
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 Civil and Environmental Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

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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http://hdl.handle.net/10453/31295