무인 차량을 위한 센서 시스템 개발 및 3차원 월드 모델링 Development of sensor system and 3D world modeling for autonomous vehicle

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This paper describes a novel sensor system for 3D world modeling of an autonomous vehicle in large-scale outdoor environments. When an autonomous vehicle performs path planning and path following, well-constructed 3D world model of target environment is very important for analyze the environment and track the determined path. To generate well-construct 3D world model, we develop a novel sensor system. The proposed novel sensor system consists of two 2D laser scanners, two single cameras, a DGPS (Differential Global Positioning System) and an IMU (Inertial Measurement System). We verify the effectiveness of the proposed sensor system through experiment in large-scale outdoor environment. © ICROS 2011.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2011-06
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.17, no.6, pp.531 - 538

ISSN
1976-5622
DOI
10.5302/J.ICROS.2011.17.6.531
URI
http://hdl.handle.net/10203/94611
Appears in Collection
EE-Journal Papers(저널논문)
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