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Carnegie Mellon Robotics Institute

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Abstract

Knowledge of the location of curbs, walls, or barriers is important for guidance of vehicles or for the understanding of their surroundings. We have developed a method to detect such continous objects alongside and in front of a host vehicle. We employ a laser line striper, a vehicle state estimator, a video camera, and a laser scanner to detect the object at one location, track it alongside the vehicle, search for it in front of the vehicle and eliminate erroneous readings caused by occlusion from other objects.

Keywords

Sensor fusion, curb detection, triangulation sensor, computer vision, laser range finder

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Lab(s) / Group(s): NavLab

Associated Project(s): Transit Bus Collision Warning Systems and CTA Robotics

Text Reference

Romuald Aufrere, Christoph Mertz, and Chuck Thorpe, "Multiple Sensor Fusion for Detecting Location of Curbs, Walls, and Barriers," Proceedings of the IEEE Intelligent Vehicles Symposium (IV2003), June, 2003.

BibTeX Reference

@inproceedings{Aufrere_2003_4347,
   author = "Romuald Aufrere and Christoph Mertz and Chuck Thorpe",
   title = "Multiple Sensor Fusion for Detecting Location of Curbs, Walls, and Barriers",
   booktitle = "Proceedings of the IEEE Intelligent Vehicles Symposium (IV2003)",
   month = "June",
   year = "2003",
}

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