Dynamic Obstacle Detection using Visually Informed Scan Matching

摘要：

　　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 robots position.Through two experimental scenarios,the performance of the proposed algorithm is demonstrated.

关键词： Dynamic obstacle detection Polar scan matching (PSM) Mobile robot

作者: Tae-Seok Lee Heon-Cheol Lee Won-Sok Yoo Doojin Kim Beom-Hee Lee

作者单位: ASRI,Seoul National University,Korea

会议类型: 国际会议

会议名称: 2012 2nd International conference on Machinery Electronics and Control Engineering (2012年第二届国际机械电子与控制工程会议(ICMECE 2012))

会议地点: 济南

会议语种:英文

页码: 1192-1196

在线出版日期: 2012-12-29（万方平台首次上网日期，不代表论文的发表时间）