Road segmentation, obstacle detection, situation awareness constitute fundamental tasks for autonomous vehicles in urban environments. This paper describes an end-to-end system capable of generating high-quality 3D point clouds from one or two of the popular LMS200 laser on a continuously moving vehicle. Road segmentation and crossing analysis have been performed on the basis of this newly developed 3D laser scanner. This system is cost-efficient and provides a circumferential view that makes it also applicable to mid-sized robotic platforms, like Volksbot robots. Field experiments from the DARPA Urban Challenge are presented. Our aim is to provide a level of hardware and algorithmic detail suitable for replication of our system by interested parties or to get a cheap 3D laser scanner for research for those who do not wish to invest in hardware development.
|Title of host publication||2009 International Conference on Advanced Robotics, ICAR 2009|
|Publication status||Published - 2009|
|Event||2009 International Conference on Advanced Robotics - Munich, Germany|
Duration: 22 Jun 2009 → 26 Jun 2009
|Conference||2009 International Conference on Advanced Robotics|
|Abbreviated title||ICAR 2009|
|Period||22/06/09 → 26/06/09|