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20                                     Autonomous Mobile Robots
















                                                                     3D ladar
                                           Stereo imaging                           mm Radar




                                                       20 m          80 m              200 m




                                                 2D ladar











                                FIGURE 1.4 Different subsystems of the VGS provide coverage over different field-
                                of-view and range. There is a compromise between FOV and angular resolution. The
                                rectangle extending to 20 m is the occupancy grid on which several sensory outputs
                                are fused.





                                of the vehicle relative to the road: either for driver assistance/warning or for
                                autonomous lateral control. Lane detection is therefore a relatively mature tech-
                                nology; a number of impressive demonstrations have taken place [29], and some
                                systems have achieved commercial realization such as Autovue and AssistWare.
                                There are, therefore, numerous sources of reference where the reader can find
                                details on image processing algorithms and details of practical implementation.
                                Good places to start are at the PATH project archives at UCLA, the final report
                                of Chauffeur II programme [30], or the work of Broggi on the Argo project [29].




                                 © 2006 by Taylor & Francis Group, LLC



                                 FRANKL: “dk6033_c001” — 2006/3/31 — 16:42 — page 20 — #20
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