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An Adaptive Approach for Road Boundary Detection Using 2D LIDAR Sensor
Date
2017-11-18
Author
Demir, S. O.
Ertop, T. E.
Koku, Ahmet Buğra
Konukseven, Erhan İlhan
Metadata
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Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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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.
Subject Keywords
Roads
,
Mobile communication
,
Cameras
,
Detection algorithms
,
Robot sensing systems
,
Laser radar
URI
https://hdl.handle.net/11511/37443
DOI
https://doi.org/10.1109/mfi.2017.8170430
Conference Name
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)
Collections
Department of Mechanical Engineering, Conference / Seminar
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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.