NDLI: Ground or obstacles? Detecting clear paths in vehicle navigation

Content Provider	IEEE Xplore Digital Library
Author	Aeschimann, R. Borges, P.V.K.
Copyright Year	2015
Description	Author affiliation: Autonomous Syst. Lab., ETH Zurich, Zurich, Switzerland (Aeschimann, R.) \|\| Comput. Inf., Autonomous Syst. Lab., CSIRO, Brisbane, QLD, Australia (Borges, P.V.K.)
Abstract	Efficient estimation of obstacles is a crucial component in autonomous vehicle navigation. Fusing stereo vision and laser scan data is a widely used approach for obstacle detection and navigation. Stereo vision can detect obstacles and the ground. Planar laser range finders can detect obstacles, but false positives occur when the scans collide with the ground. This paper proposes an algorithm for cooperative fusion of stereo vision and laser data. The algorithm checks the consensus of the two signals before filtering out the false positive laser scans from ground hits. Experimental results for tests in real driving situations in an industrial environment are presented. The results confirm the effectiveness of the proposed algorithm for robust and safe navigation.
Starting Page	3927
Ending Page	3934
File Size	5646113
Page Count	8
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139747
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Laser fusion Stereo vision Vehicles Robot sensing systems Measurement by laser beam Three-dimensional displays Obstacle Detection Sensor Fusion Laser Range Finder Stereo Vision
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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