Driving Safety and Traffic Data Collection - A Laser Scanner Based Approach

被引：0

作者：

Zhao, Huijing ^{[1
]}

Chiba, Masaki ^{[2
]}

Shibasaki, Ryosuke ^{[3
]}

Katabira, Kyoichiro ^{[3
]}

Cui, Jinshi ^{[1
]}

Zha, Hongbin ^{[1
]}

机构：

[1] Peking Univ, State Key Lab Machine Percept, Beijing, Peoples R China

[2] Mazda Motor Corp, Tech Res Ctr, Hiroshima, Japan

[3] Univ Tokyo, Ctr Spatial Informat Sci, Tokyo 1138654, Japan

来源：

2008 IEEE INTELLIGENT VEHICLES SYMPOSIUM, VOLS 1-3 | 2008年

基金：

日本学术振兴会;

关键词：

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This research is motivated by two potential applications - enhancing driving safety and collecting traffic data in a large dynamic urban environment. A laser scanner based approach is proposed, in which SLAM (simultaneous localization and mapping) is developed with moving object detection and tracking using a laser scanner for perception, using GPS to achieve global accuracy, and using yaw rate and wheel speed to diagnose pose errors. Experiments are conducted to collect data along a course (4.5 km) with a test-bed vehicle run in a highly dynamic environment. The algorithms are examined, possibilities with respect to the two potential applications are demonstrated, and future works are discussed.

引用

页码：356 / +

页数：2

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