Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published June 26, 2006 | Published
Book Section - Chapter Open

Model-based estimation of off-highway road geometry using single-axis LADAR and inertial sensing

Abstract

This paper applies some previously studied extended Kalman filter techniques for planar road geometry estimation to the domain of autonomous navigation of off-highway vehicles. In this work, a clothoid model of the road geometry is constructed and estimated recursively based on road features extracted from single-axis LADAR range measurements. We present a method for feature extraction of the road centerline in the image plane, and describe its application to recursive estimation of the road geometry. We analyze the performance of our method against simulated motion of varied road geometries and against closed-loop detection, tracking and following of desert roads. Our method accomodates full 6 DOF motion of the vehicle as it navigates, constructs consistent estimates of the road geometry with respect to a fixed global reference frame, and requires an estimate of the sensor pose for each range measurement.

Additional Information

© 2006 IEEE. Issue Date: 15-19 May 2006. Date of Current Version: 26 June 2006.

Attached Files

Published - Cremean2006p96952008_Ieee_International_Conference_On_Robotics_And_Automation_Vols_1-9.pdf

Files

Cremean2006p96952008_Ieee_International_Conference_On_Robotics_And_Automation_Vols_1-9.pdf

Additional details

Created:
August 19, 2023
Modified:
January 13, 2024