Free space and speed humps detection using lidar and vision for urban autonomous navigation

Fernández, Carlos; Gavilán, Miguel Urrestarazu; Llorca, David Fernández; Parra, I.; Quintero, R.; Lorente, A. G.; Vlacic, Ljubo; Sotelo, Miguel Ángel

doi:10.1109/ivs.2012.6232255

Cited by 30 publications

(16 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Stereo cameras depend on image pair matching methods to obtain depth information. Although 2D LIDARs can directly return this information, only select curb points can be detected using this sensor [13]. 3D LIDAR provides a dense point cloud and thus makes it possible to detect a larger extent of the curb [14].…”

Section: Road Limitsmentioning

confidence: 99%

A Hybrid Vision-Map Method for Urban Road Detection

Fernández

Llorca

Sotelo

2017

Journal of Advanced Transportation

View full text Add to dashboard Cite

A hybrid vision-map system is presented to solve the road detection problem in urban scenarios. The standardized use of machine learning techniques in classification problems has been merged with digital navigation map information to increase system robustness. The objective of this paper is to create a new environment perception method to detect the road in urban environments, fusing stereo vision with digital maps by detecting road appearance and road limits such as lane markings or curbs. Deep learning approaches make the system hard-coupled to the training set. Even though our approach is based on machine learning techniques, the features are calculated from different sources (GPS, map, curbs, etc.), making our system less dependent on the training set.

show abstract

Section: Road Limitsmentioning

confidence: 99%

A Hybrid Vision-Map Method for Urban Road Detection

Fernández

Llorca

Sotelo

2017

Journal of Advanced Transportation

View full text Add to dashboard Cite

show abstract

“…The system built with set of sensors embedded in vehicles to collect and process data and send it to portal based upon the continuous queries which are processed by continuous query processor on remote nodes. In paper [2] [3] real-time free space detection system is implemented using a medium-cost LIDAR sensor and a low cost camera. In paper [4] [5] the speed bump detection is done with bump recorder, pedometer, three-dimensional gyro sensor and GPS.…”

Section: Background and Related Workmentioning

confidence: 99%

Real Time Speed Bump Detection Using Gaussian Filtering and Connected Component Approach

Devapriya¹,

Babu²,

Srihari³

2016

View full text Add to dashboard Cite

An Intelligent Transportation System (ITS) is a new system developed for the betterment of user in traffic and transport management domain area for smart and safe driving. ITS subsystems are Emergency vehicle notification systems, Automatic road enforcement, Collision avoidance systems, Automatic parking, Map database management, etc. Advance Driver Assists System (ADAS) belongs to ITS which provides alert or warning or information to the user during driving. The proposed method uses Gaussian filtering and Median filtering to remove noise in the image. Subsequently image subtraction is achieved by subtracting Median filtered image from Gaussian filtered image. The resultant image is converted to binary image and the regions are analyzed using connected component approach. The prior work on speed bump detection is achieved using sensors which are failed to detect speed bumps that are constructed with small height and the detection rate is affected due to erroneous identification. And the smartphone and accelerometer methodologies are not perfectly suitable for real time scenario due to GPS error, network overload, real-time delay, accuracy and battery running out. The proposed system goes very well for the roads which are constructed with proper painting irrespective of their dimension.

show abstract

“…LIDAR sensors are widely used for their capability to operate at high frequency (70 Hz) and to provide high resolution measures (0.01 degree) in a range of up to 60 metres. They can be applied as a standalone device or in combination with vision sensors in order to achieve enhanced measurement results [24], [25].…”

Section: Hardware Descriptionmentioning

confidence: 99%

“…In 2005 Park Shuttle II [8], [9] started an automated transport service at Rivium Business Park on the outskirts of Rotterdam. The vehicles exhibited an increased capacity of [20][21][22][23][24] passengers and drove at 32 km/h along a 1.3 km track with five stations. Furthermore, vehicles were capable of stopping automatically when they detected an object in their path.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Navigation and Obstacle Avoidance of a Micro-Bus

Fernández

Domínguez

Llorca

et al. 2013

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

At present, the topic of automated vehicles is one of the most promising research areas in the field of Intelligent Transportation Systems (ITS). The use of automated vehicles for public transportation also contributes to reductions in congestion levels and to improvements in traffic flow. Moreover, electrical public autonomous vehicles are environmentally friendly, provide better air quality and contribute to energy conservation.The driverless public transportation systems, which are at present operating in some airports and train stations, are restricted to dedicated roads and exhibit serious trouble dynamically avoiding obstacles in the trajectory. In this paper, an electric autonomous mini-bus is presented. All datasets used in this article were collected during the experiments carried out in the demonstration event of the 2012 IEEE Intelligent Vehicles Symposium that took place in Alcalá de Henares (Spain). The demonstration consisted of a route 725 metres long containing a list of latitude-longitude points (waypoints). The mini-bus was capable of driving autonomously from one waypoint to another using a GPS sensor. Furthermore, the vehicle is provided with a multi-beam Laser Imaging Detection and Ranging (LIDAR) sensor for surrounding reconstruction and obstacle detection. When an obstacle is detected in the planned path, the planned route is modified in order to avoid the obstacle and continue its way to the end of the mission. On the demonstration day, a total of 196 attendees had the opportunity to get a ride on the vehicles. A total of 28 laps were successfully completed in full autonomous mode in a private circuit located in the National Institute for Aerospace Research (INTA), Spain. In other words, the system completed 20.3 km of driverless navigation and obstacle avoidance.

show abstract

Free space and speed humps detection using lidar and vision for urban autonomous navigation

Cited by 30 publications

References 13 publications

A Hybrid Vision-Map Method for Urban Road Detection

A Hybrid Vision-Map Method for Urban Road Detection

Real Time Speed Bump Detection Using Gaussian Filtering and Connected Component Approach

Autonomous Navigation and Obstacle Avoidance of a Micro-Bus

Contact Info

Product

Resources

About