Next Article in Journal
The Evaluation of Physical Stillness with Wearable Chest and Arm Accelerometer during Chan Ding Practice
Next Article in Special Issue
Sine Rotation Vector Method for Attitude Estimation of an Underwater Robot
Previous Article in Journal
Development of an Integrated Evaluation System for a Stretchable Strain Sensor
Previous Article in Special Issue
Development of Torque Sensor with High Sensitivity for Joint of Robot Manipulator Using 4-Bar Linkage Shape
Open AccessArticle

Novel Intersection Type Recognition for Autonomous Vehicles Using a Multi-Layer Laser Scanner

1
School of Electrical and Electronic Engineering, Yonsei University, 50 Seodaemun-gu Sinchon-dong, Seoul 120-743, Korea
2
School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro Dongjak-Gu, Seoul 156-756, Korea
*
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Sensors 2016, 16(7), 1123; https://doi.org/10.3390/s16071123
Received: 21 April 2016 / Revised: 14 July 2016 / Accepted: 15 July 2016 / Published: 20 July 2016
There are several types of intersections such as merge-roads, diverge-roads, plus-shape intersections and two types of T-shape junctions in urban roads. When an autonomous vehicle encounters new intersections, it is crucial to recognize the types of intersections for safe navigation. In this paper, a novel intersection type recognition method is proposed for an autonomous vehicle using a multi-layer laser scanner. The proposed method consists of two steps: (1) static local coordinate occupancy grid map (SLOGM) building and (2) intersection classification. In the first step, the SLOGM is built relative to the local coordinate using the dynamic binary Bayes filter. In the second step, the SLOGM is used as an attribute for the classification. The proposed method is applied to a real-world environment and its validity is demonstrated through experimentation. View Full-Text
Keywords: multi-laser scanner; intersections; recognition; local coordinate; occupancy grid map; static map multi-laser scanner; intersections; recognition; local coordinate; occupancy grid map; static map
Show Figures

Figure 1

MDPI and ACS Style

An, J.; Choi, B.; Sim, K.-B.; Kim, E. Novel Intersection Type Recognition for Autonomous Vehicles Using a Multi-Layer Laser Scanner. Sensors 2016, 16, 1123.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop