Dynamic Obstacle Detection Using Visually Informed Scan Matching

Tae Seok Lee; Heon Cheol Lee; Won Sok Yoo; Doo Jin Kim; Beom Hee Lee

doi:10.4028/www.scientific.net/AMM.313-314.1192

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 313-314Dynamic Obstacle Detection Using Visually Informed...

Dynamic Obstacle Detection Using Visually Informed Scan Matching

Abstract:

This paper presents a real-time dynamic obstacle detection algorithm using a scan matching method considering image information from a mobile robot equipped with a camera and a laser scanner. By combining image and laser scan data, we extract a scan segment corresponding to the dynamic obstacle. To complement the performance of scan matching, poor in dynamic environments, the extracted scan segment is temporarily removed. After obtaining a good robot position, the position of the dynamic obstacle is calculated based on the robot’s position. Through two experimental scenarios, the performance of the proposed algorithm is demonstrated.

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Periodical:

Applied Mechanics and Materials (Volumes 313-314)

Pages:

1192-1196

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.313-314.1192

Citation:

Cite this paper

Online since:

March 2013

Authors:

Tae Seok Lee, Heon Cheol Lee, Won Sok Yoo, Doo Jin Kim, Beom Hee Lee

Keywords:

Dynamic Obstacle Detection, Mobile Robot, Polar Scan Matching (PSM)

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