Laser-camera composite sensing for road detection and tracing

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dc.contributor.author Wijesoma, WS
dc.contributor.author Kodagoda, S
dc.contributor.author Balasuriya, A
dc.date.accessioned 2012-02-02T09:33:51Z
dc.date.issued 2005-01
dc.identifier.citation International Journal of Robotics and Automation, 2005, 20 (03), pp. 145 - 157
dc.identifier.issn 0826-8185
dc.identifier.other C1UNSUBMIT 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.
dc.publisher ACTA Press
dc.title Laser-camera composite sensing for road detection and tracing
dc.type Journal Article
dc.parent International Journal of Robotics and Automation
dc.journal.volume 03
dc.journal.volume 20
dc.journal.number 03 en_US
dc.publocation Canada en_US
dc.identifier.startpage 145 en_US
dc.identifier.endpage 157 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 080106 Image Processing
dc.for 080101 Adaptive Agents and Intelligent Robotics
dc.personcode 040387
dc.percentage 60 en_US
dc.classification.name Adaptive Agents and Intelligent Robotics en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom en_US
dc.date.activity en_US
dc.location.activity en_US
dc.description.keywords Intelligent sensors, robot vision systems, laser measurement systems, intelligent transportation en_US
pubs.embargo.period Not known
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 Elec, Mech and Mechatronic Systems
utslib.copyright.status Open Access
utslib.copyright.date 2015-04-15 12:23:47.074767+10
utslib.collection.history General (ID: 2)


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