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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.6 No.2 pp.182-188

다중카메라와 레이저스캐너를 이용한 확장칼만필터 기반의 노면인식방법

변 재 민, 조 용 석1, 김 성 훈2
한국전자통신연구원 지능로봇제어연구팀, 1건양대학교 전자정보공학과, 2한국전자통신연구원 지능로봇제어연구팀

Road Recognition based Extended Kalman Filter with Multi-Camera and LRF

Jaemin Byun, Yong Suk Cho1, Sung Hoon Kim2

Received : Feb. 07. 2011, Reviewed :Mar. 29. 2011, Accepted : Apr. 18. 2011


This paper describes a method of road tracking by using a vision and laser withextracting road boundary (road lane and curb) for navigation of intelligent transport robot instructured road environments. Road boundary information plays a major role in developing suchintelligent robot. For global navigation, we use a global positioning system achieved by means ofa global planner and local navigation accomplished with recognizing road lane and curb which isroad boundary on the road and estimating the location of lane and curb from the current robotwith EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. Thecomplete system has been tested on the electronic vehicles which is equipped with cameras, lasers,GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser andvision system by our approach for detecting the curb of road and lane boundary detection.


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