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A Laser-Scanner-Based Approach Toward Driving Safety and Traffic Data Collection

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6 Author(s)
Huijing Zhao ; Key Lab. of Machine Perception (MOE), Peking Univ., Beijing, China ; Masaki Chiba ; Ryosuke Shibasaki ; Xiaowei Shao
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This work is motivated by the following two potential applications: 1) enhancing driving safety and 2) collecting traffic data in a large dynamic urban environment. A laser-scanner-based approach is proposed. The problem is formulated as a simultaneous localization and mapping (SLAM) with object tracking and classification, where the focus is on managing a mixture of data from both dynamic and static objects in a highly dynamic environment. A trajectory-oriented closure is also proposed using the sporadically available global positioning system (GPS) measurements in urban areas to assist for global accuracy, particularly when the vehicle makes a noncyclical measurement in a large outdoor environment. Experiments are conducted using the data that were collected along a course near 4.5 km in a highly dynamic environment. Possibilities of the approaches toward the two potential applications are demonstrated, and avenues for future works are discussed.

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IEEE Transactions on Intelligent Transportation Systems  (Volume:10 ,  Issue: 3 )