Online road surface analysis using laser remission in structured outdoor environments

Teppei Saitoh, Yoji Kuroda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper describes the novel road surface analysis using intensity of a laser scanner in structured outdoor environments. The proposed approach makes estimation of road surface conditions robust by using information of intensity of a laser that much less depends on brightness of color or ambient lighting than passive camera. Our method can be applied to various structured outdoor environments by online estimating distributions of the intensity from the road surface. This article shows that the method is successfully verified with accuracy of approximately 99% at both the testing course of the 2009 Real World Robot Challenge which is known as "Tsukuba Challenge" and our university campus.

Original languageEnglish
Title of host publicationJoint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010
Pages668-675
Number of pages8
Publication statusPublished - 1 Dec 2010
EventJoint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010 - Munich, Germany
Duration: 7 Jun 20109 Jun 2010

Publication series

NameJoint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010
Volume2

Conference

ConferenceJoint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010
CountryGermany
CityMunich
Period7/06/109/06/10

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Saitoh, T., & Kuroda, Y. (2010). Online road surface analysis using laser remission in structured outdoor environments. In Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010 (pp. 668-675). (Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010; Vol. 2).