Histogram-model based road boundary estimation by using laser scanner

Minho Cho, Jhonghyun An, Wonje Jang, Euntai Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present road boundary estimation based on laser scanner by using histogram model. For raw laser scanner data, we apply histogram model, which means that the histogram of the number of laser point is applied from a center of ego-vehicle. After histogram is made, we estimate the boundary point and select point of road boundary. We estimate selected points to clothoid model and update them by using Kalman filter. Experimental results carried out with laser range data illustrate the robustness of our approach.

Original languageEnglish
Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages1653-1655
Number of pages3
Volume0
ISBN (Electronic)9788993215120
DOIs
Publication statusPublished - 2016 Jan 24
Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
Duration: 2016 Oct 162016 Oct 19

Other

Other16th International Conference on Control, Automation and Systems, ICCAS 2016
CountryKorea, Republic of
CityGyeongju
Period16/10/1616/10/19

Fingerprint

Lasers
Kalman filters

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Cho, M., An, J., Jang, W., & Kim, E. (2016). Histogram-model based road boundary estimation by using laser scanner. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings (Vol. 0, pp. 1653-1655). [7832521] IEEE Computer Society. https://doi.org/10.1109/ICCAS.2016.7832521
Cho, Minho ; An, Jhonghyun ; Jang, Wonje ; Kim, Euntai. / Histogram-model based road boundary estimation by using laser scanner. ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. Vol. 0 IEEE Computer Society, 2016. pp. 1653-1655
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Cho, M, An, J, Jang, W & Kim, E 2016, Histogram-model based road boundary estimation by using laser scanner. in ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. vol. 0, 7832521, IEEE Computer Society, pp. 1653-1655, 16th International Conference on Control, Automation and Systems, ICCAS 2016, Gyeongju, Korea, Republic of, 16/10/16. https://doi.org/10.1109/ICCAS.2016.7832521

Histogram-model based road boundary estimation by using laser scanner. / Cho, Minho; An, Jhonghyun; Jang, Wonje; Kim, Euntai.

ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. Vol. 0 IEEE Computer Society, 2016. p. 1653-1655 7832521.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - In this paper, we present road boundary estimation based on laser scanner by using histogram model. For raw laser scanner data, we apply histogram model, which means that the histogram of the number of laser point is applied from a center of ego-vehicle. After histogram is made, we estimate the boundary point and select point of road boundary. We estimate selected points to clothoid model and update them by using Kalman filter. Experimental results carried out with laser range data illustrate the robustness of our approach.

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Cho M, An J, Jang W, Kim E. Histogram-model based road boundary estimation by using laser scanner. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. Vol. 0. IEEE Computer Society. 2016. p. 1653-1655. 7832521 https://doi.org/10.1109/ICCAS.2016.7832521