An Adaptive Approach for Road Boundary Detection Using 2D LIDAR Sensor

2017-11-18
Demir, S. O.
Ertop, T. E.
Koku, Ahmet Buğra
Konukseven, Erhan İlhan
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 algorithm is utilized for road determination, in which parameter sets are updated adaptively based on a discriminative learning approach. Details of both the learning approach and the detection algorithm are discussed in detail. Experiments were performed on constructed and unconstructed roads to evaluate the performance of the proposed method, and the outcomes were presented in the paper. The results showed that accuracy of road boundary detection increased significantly with the proposed adaptive method. Likewise, significant changes were observed in the required computational times.
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

Suggestions

Adaptive structured and unstructured road detection using LIDAR and dome-camera
Demir, Sinan Özgün; Konukseven, Erhan İlhan; Koku, Ahmet Buğra; Department of Mechanical Engineering (2017)
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 fo...
A comparative evaluation of adaptive and non-adaptive Sliding Mode, LQR & PID control for platform stabilization
Akgul, Emre; Mutlu, Mehmet; Saranlı, Afşar; Yazıcıoğlu, Yiğit (2012-12-01)
During the uniform locomotion of compliant legged robots and other terrain vehicles, the body of the robot often exhibits complex oscillations which may have a disturbing effect on onboard sensors. For a camera mounted on such a robot, due to perspective projection, the effects of angular disturbances are particularly pronounced as compared to translational disturbances. This paper is motivated by the particular problem of legged robots exhibiting angular body motions and attempts to evaluate the performanc...
An algorithm for multiscale license plate detection and rule-based character segmentation
Karalı, Ali Onur; Ulusoy, İlkay; Department of Electrical and Electronics Engineering (2011)
License plate recognition (LPR) technology has great importance for the development of Intelligent Transportation Systems by automatically identifying the vehicles using image processing and pattern recognition techniques. Conventional LPR systems consist of license plate detection (LPD), character segmentation (CS) and character recognition (CR) steps. Successful detection of license plate and character locations have vital role for proper LPR. Most LPD and CS techniques in the literature assume fixed dist...
A Generic and extendable system architecture for intelligent transportation systems /
Çetinkaya, Kaan; Schmidt, Şenan Ece; Department of Electrical and Electronics Engineering (2015)
Intelligent Transportation Systems (ITS) are distributed systems with different communicating parties which are vehicles with ITS-supporting On Board Units (OBUs), Road Side Units (RSU) and user mobile devices. These parties collectively run application services that are developed and managed by different application service providers by communicating among each other under certain timing constraints. In the current state of art, hardware, software and communications that are required to implement a given I...
An FPGA implementation of two-step trajectory planning for automatic parking
Ertuğrul, Halil; Schmidt, Şenan Ece; Schmidt, Klaus Werner; Department of Electrical and Electronics Engineering (2013)
The main distinguishing feature of different automatic parking technologies is the method that determines a proper collision-free path. Hereby, the length of the path, the number of halts and the computation time for finding such path are the most relevant performance criteria. In this thesis, a two-step trajectory planning algorithm for automatic parking is considered. The algorithm finds a path that meets all kinematic constraints of the car from its initial position, to the target position while requirin...
Citation Formats
S. O. Demir, T. E. Ertop, A. B. Koku, and E. İ. Konukseven, “An Adaptive Approach for Road Boundary Detection Using 2D LIDAR Sensor,” presented at the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Daegu, South Korea, 2017, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/37443.