DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Kong, Seung-Hyun | - |
dc.contributor.advisor | 공승현 | - |
dc.contributor.author | Lee, Namhyung | - |
dc.date.accessioned | 2021-05-13T19:37:39Z | - |
dc.date.available | 2021-05-13T19:37:39Z | - |
dc.date.issued | 2020 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=925120&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/284961 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 로봇공학학제전공, 2020.8,[iv, 48 p. :] | - |
dc.description.abstract | LiDAR sensors are used as core sensors in autonomous vehicles. The range of use varies from positioning to recognition. In this paper, we introduce a method that can utilize the LiDAR point cloud for recognition and positioning. In the positioning section, after detecting the lane with a LiDAR, the positioning information is corrected using this information. First of all, lane detection using LiDAR has the advantage of being able to instantly determine the three-dimensional position of the lane, and the detection performance is not affected by the illuminance. Lane detection using LiDAR detects all road markings on the ground and preprocesses them to provide them as input to a multi-layer perceptron-based network to instantly obtain the three-dimensional position of points corresponding to lanes. In this way, IMU is corrected by fusing lane information detected in real time and lane information obtained using the yaw rate from the vehicle's IMU. Finally, we propose a Kalman Filter-based sensor fusion complex positioning system that corrects the absolute position estimated by the GPS absolute position and the corrected yaw rate in conjunction with high definition map. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | LiDAR▼aAutonomous Vehicle▼aLane Detection▼aMulti Layer Perceptron▼aLocalization▼aSensor Fusion | - |
dc.subject | 라이다▼a자율주행▼a차선 인식▼a측위▼a센서 융합 | - |
dc.title | Research about LiDAR pointcloud processing method and its application for autonomous driving | - |
dc.title.alternative | 자율 주행을 위한 라이다 포인트 클라우드 처리 기법과 응용에 관한 연구 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :로봇공학학제전공, | - |
dc.contributor.alternativeauthor | 이남형 | - |
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