IMMPDAF approach for road-boundary tracking

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dc.contributor.author Kodagoda, KRS
dc.contributor.author Ge, SS
dc.contributor.author Wijesoma, WS
dc.contributor.author Balasuriya, AP
dc.date.accessioned 2009-12-21T03:53:19Z
dc.date.issued 2007-03
dc.identifier.citation IEEE Transactions on Vehicular Technology, 2007, 56 (2), pp. 478 - 486
dc.identifier.issn 0018-9545
dc.identifier.other C1 en_US
dc.identifier.uri http://hdl.handle.net/10453/5861
dc.description.abstract Robust road-boundary extraction/tracking is one of the main problems in autonomous roadway navigation. Although the road boundary can be defined by various means including lane markings, curbs, and borders of vegetation, this paper focuses on road-boundary tracking using curbs. A vehicle-mounted (downward tilted) 2-D laser-measurement system is utilized to detect the curbs. The tracking problem is difficult because both the vehicle is moving and the target is disappearing, reappearing, and maneuvering in clutter. The interacting-multiple-model probabilistic-data-association filter (IMMPDAF) is proposed to solve the problems after detailed analysis. Track initiation, confirmation, and deletion are performed using the sequential-probability-ratio test. Extensive simulations followed by experiments in a campus environment show that the road-boundary tracking utilizing curbs is possible and robust through IMMPDAF. © 2007 IEEE.
dc.language eng
dc.relation.isbasedon 10.1109/TVT.2007.891426
dc.title IMMPDAF approach for road-boundary tracking
dc.type Journal Article
dc.parent IEEE Transactions on Vehicular Technology
dc.journal.volume 2
dc.journal.volume 56
dc.journal.number 2 en_US
dc.publocation USA en_US
dc.identifier.startpage 478 en_US
dc.identifier.endpage 486 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 0913 Mechanical Engineering
dc.personcode 040387
dc.percentage 100 en_US
dc.classification.name Mechanical Engineering en_US
dc.classification.type FOR-08 en_US
dc.description.keywords Autonomous vehicles, laser radar, road transportation, robot-sensing systems en_US
dc.description.keywords Autonomous vehicles, laser radar, road transportation, robot-sensing systems
dc.description.keywords Autonomous vehicles
dc.description.keywords Laser radar
dc.description.keywords Road transportation
dc.description.keywords Robot-sensing systems
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


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