A dynamic zone estimation method using cumulative voxels for autonomousdriving

Collection with item attached
2017
Item details URL
http://open-repository.kisti.re.kr/cube/handle/open_repository/473579.do
DOI
10.1177/1729881416687130
Title
A dynamic zone estimation method using cumulative voxels for autonomousdriving
Description
The author(s) disclosed receipt of the following financial support forthe research, authorship, and/or publication of this article: Thisresearch was supported by a grant from Agency for Defense Development,under Contract no. UD150017ID.
abstract
Obstacle avoidance and available road identification technologies have been investigated for autonomous driving of an unmanned vehicle. In order to apply research results to autonomous driving in real environments, it is necessary to consider moving objects. This article proposes a preprocessing method to identify the dynamic zones where moving objects exist around an unmanned vehicle. This method accumulates three-dimensional points from a light detection and ranging sensor mounted on an unmanned vehicle in voxel space. Next, features are identified from the cumulative data at high speed, and zones with significant feature changes are estimated as zones where dynamic objects exist. The approach proposed in this article can identify dynamic zones even for a moving vehicle and processes data quickly using several features based on the geometry, height map and distribution of three-dimensional space data. The experiment for evaluating the performance of proposed approach was conducted using ground truth data on simulation and real environment data set.
provenance
Made available in Cube on 2018-09-28T10:23:24Z (GMT). No. of bitstreams: 0
language
English
author
Lee, Seongjo
Cho, Seoungjae
Sim, Sungdae
Kwak, Kiho
Park, Yong Woon
Cho, Kyungeun
accessioned
2018-09-28T10:23:24Z
available
2018-09-28T10:23:24Z
issued
2017
citation
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS(14): 1
issn
1729-8814
uri
http://open-repository.kisti.re.kr/cube/handle/open_repository/473579.do
Funder
교육부
Funding Program
BK21플러스사업(0.5)
Project ID
1345274214
Jurisdiction
Rep.of Korea
Project Name
Research team for training top-level human resources of Interactive Smart Contents
rights
openAccess
subject
Dynamic zone
dynamic object
LIDAR
unmanned ground vehicle
cumulativevoxels
type
article


Files in This Item

There are no attached files.