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Development and Evaluation of Roadside/Obstacle Detection Method Using 3D Scanned Data Processing
Hiroshi YAMAMOTO Yoshinori ISHII Katsuyuki YAMAZAKI
IEICE TRANSACTIONS on Information and Systems
Publication Date: 2012/02/01
Online ISSN: 1745-1361
Print ISSN: 0916-8532
Type of Manuscript: Special Section LETTER (Special Section on Architectures, Protocols, and Applications for the Future Internet)
snowblower, obstacle map, 3D laser scanner, RTK-GPS,
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In this paper, we have reported the development of a snowblower support system which can safely navigate snowblowers, even during a whiteout, with the combination of a very accurate GPS system, so called RTK-GPS, and a unique and highly accurate map of roadsides and obstacles on roads. Particularly emphasized new techniques in this paper are ways to detect accurate geographical positions of roadsides and obstacles by utilizing and analyzing 3D laser scanned data, whose data has become available in recent days. The experiment has shown that the map created by the methods and RTK-GPS can sufficiently navigate snowblowers, whereby a secure and pleasant social environment can be archived in snow areas of Japan. In addition, proposed methods are expected to be useful for other systems such as a quick development of a highly accurate road map, a safely navigation of a wheeled chair, and so on.