A Study on Discrimination of Forward Objects on the Road Using Laser Radar and a Camera

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Author(s)

Abstract

This paper describes a new method for distinguishing objects on and alongside the road using a scanning laser radar (SLR) and a vehicle-mounted camera. Objects are detected on the basis of SLR digital signal data and the types of objects are distinguished by using their movement vectors and positions relative to white lane markers. For object detection, a new two-step grouping method is proposed for improving detection accuracy. The movement vectors of objects are adjusted properly based on the steering angle and speed of the host vehicle. The proposed method has been validated on a simulator using data recorded at a velocity of more than 40km per hour on Japanese expressways. The expected discrimination of vehicles, delineators and overhead signs in the forward view was successfully achieved in the simulation.

Journal

  • IEEJ Transactions on Sensors and Micromachines

    IEEJ Transactions on Sensors and Micromachines 122(5), 261-266, 2002-05-01

    The Institute of Electrical Engineers of Japan

References:  10

Codes

  • NII Article ID (NAID)
    10008218914
  • NII NACSIS-CAT ID (NCID)
    AN1052634X
  • Text Lang
    ENG
  • Article Type
    ART
  • ISSN
    13418939
  • NDL Article ID
    6152622
  • NDL Source Classification
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL Call No.
    Z16-B380
  • Data Source
    CJP  NDL  J-STAGE 
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