Adaptive structured and unstructured road detection using LIDAR and dome-camera

Download
2017
Demir, Sinan Özgün
Robotic ground vehicles are widely used in different road conditions to perform various tasks under semi- or fully-autonomous operation. To accomplish the given tasks, the vehicle should detect road regions accurately. Also, for a successful operation, the mobile robot requires a quick adaptation for changing road conditions. The objective of this study was developing an adaptive road detection algorithm for a semi-autonomous mobile platform (GOAT). For that purpose three different methods were developed for a robust classification of road regions ahead of the vehicle in both constructed and unconstructed environments. In the first method, LIDAR sensor was used to detect road regions by utilizing the data with adaptive parameter sets, which were estimated by utilizing discriminative learning approach. The experiments in structured environment showed that accuracy (ACC) of the output increased, while the false positive rate (FPR) decreased compared to the constant parameter approach. However, for the tests conducted in unstructured environment desired results were not obtained. Therefore, the second road detection algorithm based on visual and range measurement data needed to be developed. By this algorithm, approximately 50% decrease in the FPR values for both structured and unstructured road conditions was observed by filtering the segmented point cloud based on the hue color channel values. In the third road detection method, an online supervised learning algorithm was developed, which used the outputs of the second road detection algorithm to create and/or update visual road models. In the conducted experiments, it was shown that road regions and general road boundary behaviors can be detected both in front and back directions of the vehicle independent from the road shape. 

Suggestions

An Adaptive Approach for Road Boundary Detection Using 2D LIDAR Sensor
Demir, S. O.; Ertop, T. E.; Koku, Ahmet Buğra; Konukseven, Erhan İlhan (2017-11-18)
Robotic ground vehicles are commonly used in various road conditions for performing special tasks with different levels of autonomy. This requires the robots to possess a certain degree of perception about the road conditions up ahead and make plans accordingly. It is essential for the robots to be able to quickly adapt their perception for various road conditions they operate. In this paper, an adaptive method for road boundary extraction using 2D LIDAR sensor is presented. A three-stage detection algorith...
DYNAMIC MODELING AND CONTROL OF AN ELECTROMECHANICAL CONTROL ACTUATION SYSTEM
Yerlikaya, Umit; Balkan, Raif Tuna (2017-10-13)
Electromechanical actuators are widely used in miscellaneous applications in engineering such as aircrafts, missiles, etc. due to their momentary overdrive capability, long-term storability, and low quiescent power/low maintenance characteristics. This work focuses on electromechanical control actuation systems (CAS) that are composed of a brushless direct current motor, ball screw, and lever mechanism. In this type of CAS, nonlinearity and asymmetry occur due to the lever mechanism itself, saturation limit...
Design and implementation of a head tracking controlled pan and tilt vision system
Ölmez, Hasan; Konukseven, Erhan İlhan; Koku, Ahmet Buğra; Department of Mechanical Engineering (2013)
Head tracking applications are getting widely used in robotics implementations such as in military industry for surveillance applications of remote controlled unmanned vehicles, in medical applications for heart and vessel surgeries, in entertainment and game applications for virtual reality. It can be used for helping the operator of teleoperated unmanned vehicle with improving his performance by decreasing workload and managing stress. Head tracking is a challenging application due to real time tracking a...
Parallel shape optimization of a missile on a grid infrastructure
Oktay, Erdal; Merttopcuoglu, Osman; Şener, Cevat; Ketenci, Ahmet; Akay, Hasan U. (2011-01-01)
A computational tool is developed to be used in the preliminary design of an air vehicle. This tool parametrically optimizes the airframe shape. In order to search the entire solution space thoroughly, a genetic algorithm is used. Code parallelization is utilized to decrease the convergence time of the airframe shape design of a realistic missile geometry on a Grid infrastructure to further improve the search quality. In this work, a generic missile geometry is taken as a test case for a design application....
Dynamic simulation and performance optimization of a car with continuously variable transmission
Güvey, Serkan; Ünlüsoy, Yavuz Samim; Department of Mechanical Engineering (2003)
The continuously variable transmission (CVT), which has been in use in some of the vehicles in the market today, presents the possibility of decoupling the engine speed and the vehicle speed. By this way, it is now possible to operate the engine at its maximum efficient or performance point and fix it at that operating point without losing from the vehicle speed. Instead of using gears, which are the main transmission elements of conventional transmission, CVT uses two pulleys and a belt. By changing the pu...
Citation Formats
S. Ö. Demir, “Adaptive structured and unstructured road detection using LIDAR and dome-camera,” M.S. - Master of Science, Middle East Technical University, 2017.