2A1-V08 レーザスキャナの受光強度と局所形状に基づく特徴量を用いた路面属性の認識

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  • 熊田 大輔
    筑波大学大学院システム情報工学研究科
  • 原 祥尭
    筑波大学大学院システム情報工学研究科
  • 坪内 孝司
    筑波大学大学院システム情報工学研究科
  • 皿田 滋
    筑波大学大学院システム情報工学研究科

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  • 2A1-V08 Road Recognition with a Laser Scanner Using Features Based on Received Light Intensity and Local Shape

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This paper proposes road recognition using a laser scanner. In this study, road attributes are recognized by using a laser scanner is mounted on the robot. Road attributes are recognized using road surface shape and received light intensity that can be obtained by measuring a laser scanner towards the road surface. To recognize several road attributes using the two types of measurement data, feature values are calculated. And each road attribute is modeled by Gaussian distribution using the feature values within a certain range. Recognition the road attributes are based on the Mahalanobis distance between each model and the feature vector calculated from the measurement data. Using this method, We experimented at outdoor.

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