Laser-based road recognition for a smart electric wheelchair
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概要
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This paper presents a method of road recognition using four-layered laser range finder (FLRF) for a smart electric wheelchair in outdoor pavement environments. Road recognition means detecting the flat road in front of a wheelchair on which it travels. The FLRF captures laser-scan images from the forward road environments, which are mapped onto a grid map. Paved roads are almost flat but are bounded by curbs, ditches, or edges. Detection of the flat road surface is based on a random sample consensus (RANSAC) method, while the road boundaries are identified as obstacle cells in the grid map. The performance of our presented method is shown through experiments of 1 km travelling of a wheelchair on our university campus grounds.
- 2013-10-00
著者
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Hashimoto Masafumi
Department Of Cardiology Nishitokyo Central General Hospital
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Takahashi Kazuhiko
Department Of Applied Chemistry Tokyo Institute Of Technology
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Suzuki Tomoya
Graduate School of Doshisha University
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Takahashi Kazuhiko
Department of Information Systems Design, Doshisha University
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KANEHIRA Takuya
Graduate School of Doshisha University
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