Sensors Fusion based Online Mapping and Features Extraction of Mobile Robot in the Road Following and Roundabout

A road feature extraction based mapping system using a sensor fusion technique for mobile robot navigation in road environments is presented in this paper. The online mapping of mobile robot is performed continuously in the road environments to find the road properties that enable the robot to move...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IOP conference series. Materials Science and Engineering 2016-02, Vol.114 (1), p.12135-12146
Hauptverfasser: Ali, Mohammed A H, Mailah, Musa, Yussof, Wan Azhar B., Hamedon, Zamzuri B, Yussof, Zulkifli B., Majeed, Anwar P P
Format: Artikel
Sprache:eng
Schlagworte:
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 12146
container_issue 1
container_start_page 12135
container_title IOP conference series. Materials Science and Engineering
container_volume 114
creator Ali, Mohammed A H
Mailah, Musa
Yussof, Wan Azhar B.
Hamedon, Zamzuri B
Yussof, Zulkifli B.
Majeed, Anwar P P
description A road feature extraction based mapping system using a sensor fusion technique for mobile robot navigation in road environments is presented in this paper. The online mapping of mobile robot is performed continuously in the road environments to find the road properties that enable the robot to move from a certain start position to pre-determined goal while discovering and detecting the roundabout. The sensors fusion involving laser range finder, camera and odometry which are installed in a new platform, are used to find the path of the robot and localize it within its environments. The local maps are developed using camera and laser range finder to recognize the roads borders parameters such as road width, curbs and roundabout. Results show the capability of the robot with the proposed algorithms to effectively identify the road environments and build a local mapping for road following and roundabout.
doi_str_mv 10.1088/1757-899X/114/1/012135
format Article
fullrecord <record><control><sourceid>proquest_iop_j</sourceid><recordid>TN_cdi_proquest_miscellaneous_1825448137</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>2564993356</sourcerecordid><originalsourceid>FETCH-LOGICAL-c440t-3a8300979db93c63a275be1e90890f7909df02b67dd65421ba9c9eb644bf08743</originalsourceid><addsrcrecordid>eNqFkdFKwzAUhosoOKevIAFvdjObNGmTXMrYVNgQNgXvQtKmmtElNWlR396W6kQRvDo55PsOh_NH0TmClwgyFiOa0inj_DFGiMQohihBOD2IRvuPw_2boePoJIQthBklBI6ieqNtcD6ARRuMs0DJoAtwZytjNVjJujb2CUhbgIWWTet1APO3xsu86WFXgpVTptJg7ZRrgLGgee4b2fGuqtzrl712rS2kcm1zGh2Vsgr67LOOo4fF_H52M13eXd_OrpbTvNurmWLJMISc8kJxnGdYJjRVGmkOGYcl5ZAXJUxURosiS0mClOQ51yojRJWQUYLH0WSYW3v30urQiJ0Jua4qabVrg0AsSQlhCNMOvfiFbl3rbbedSNKMcI5xmnVUNlC5dyF4XYram5307wJB0Qch-huL_t6iC0IgMQTRickgGld_T_5XmvwhrTbzH5ioixJ_AJy4lyI</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2564993356</pqid></control><display><type>article</type><title>Sensors Fusion based Online Mapping and Features Extraction of Mobile Robot in the Road Following and Roundabout</title><source>Institute of Physics Open Access Journal Titles</source><source>Institute of Physics IOPscience extra</source><source>EZB-FREE-00999 freely available EZB journals</source><source>Free Full-Text Journals in Chemistry</source><creator>Ali, Mohammed A H ; Mailah, Musa ; Yussof, Wan Azhar B. ; Hamedon, Zamzuri B ; Yussof, Zulkifli B. ; Majeed, Anwar P P</creator><creatorcontrib>Ali, Mohammed A H ; Mailah, Musa ; Yussof, Wan Azhar B. ; Hamedon, Zamzuri B ; Yussof, Zulkifli B. ; Majeed, Anwar P P</creatorcontrib><description>A road feature extraction based mapping system using a sensor fusion technique for mobile robot navigation in road environments is presented in this paper. The online mapping of mobile robot is performed continuously in the road environments to find the road properties that enable the robot to move from a certain start position to pre-determined goal while discovering and detecting the roundabout. The sensors fusion involving laser range finder, camera and odometry which are installed in a new platform, are used to find the path of the robot and localize it within its environments. The local maps are developed using camera and laser range finder to recognize the roads borders parameters such as road width, curbs and roundabout. Results show the capability of the robot with the proposed algorithms to effectively identify the road environments and build a local mapping for road following and roundabout.</description><identifier>ISSN: 1757-8981</identifier><identifier>EISSN: 1757-899X</identifier><identifier>DOI: 10.1088/1757-899X/114/1/012135</identifier><language>eng</language><publisher>Bristol: IOP Publishing</publisher><subject>Algorithms ; Cameras ; Feature extraction ; Laser range finders ; Mapping ; Position sensing ; Roads ; Roads &amp; highways ; Robots ; Roundabouts ; Sensors</subject><ispartof>IOP conference series. Materials Science and Engineering, 2016-02, Vol.114 (1), p.12135-12146</ispartof><rights>Published under licence by IOP Publishing Ltd</rights><rights>2016. This work is published under http://creativecommons.org/licenses/by/3.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c440t-3a8300979db93c63a275be1e90890f7909df02b67dd65421ba9c9eb644bf08743</citedby><cites>FETCH-LOGICAL-c440t-3a8300979db93c63a275be1e90890f7909df02b67dd65421ba9c9eb644bf08743</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://iopscience.iop.org/article/10.1088/1757-899X/114/1/012135/pdf$$EPDF$$P50$$Giop$$Hfree_for_read</linktopdf><link.rule.ids>314,780,784,27924,27925,38868,38890,53840,53867</link.rule.ids></links><search><creatorcontrib>Ali, Mohammed A H</creatorcontrib><creatorcontrib>Mailah, Musa</creatorcontrib><creatorcontrib>Yussof, Wan Azhar B.</creatorcontrib><creatorcontrib>Hamedon, Zamzuri B</creatorcontrib><creatorcontrib>Yussof, Zulkifli B.</creatorcontrib><creatorcontrib>Majeed, Anwar P P</creatorcontrib><title>Sensors Fusion based Online Mapping and Features Extraction of Mobile Robot in the Road Following and Roundabout</title><title>IOP conference series. Materials Science and Engineering</title><addtitle>IOP Conf. Ser.: Mater. Sci. Eng</addtitle><description>A road feature extraction based mapping system using a sensor fusion technique for mobile robot navigation in road environments is presented in this paper. The online mapping of mobile robot is performed continuously in the road environments to find the road properties that enable the robot to move from a certain start position to pre-determined goal while discovering and detecting the roundabout. The sensors fusion involving laser range finder, camera and odometry which are installed in a new platform, are used to find the path of the robot and localize it within its environments. The local maps are developed using camera and laser range finder to recognize the roads borders parameters such as road width, curbs and roundabout. Results show the capability of the robot with the proposed algorithms to effectively identify the road environments and build a local mapping for road following and roundabout.</description><subject>Algorithms</subject><subject>Cameras</subject><subject>Feature extraction</subject><subject>Laser range finders</subject><subject>Mapping</subject><subject>Position sensing</subject><subject>Roads</subject><subject>Roads &amp; highways</subject><subject>Robots</subject><subject>Roundabouts</subject><subject>Sensors</subject><issn>1757-8981</issn><issn>1757-899X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2016</creationdate><recordtype>article</recordtype><sourceid>O3W</sourceid><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><recordid>eNqFkdFKwzAUhosoOKevIAFvdjObNGmTXMrYVNgQNgXvQtKmmtElNWlR396W6kQRvDo55PsOh_NH0TmClwgyFiOa0inj_DFGiMQohihBOD2IRvuPw_2boePoJIQthBklBI6ieqNtcD6ARRuMs0DJoAtwZytjNVjJujb2CUhbgIWWTet1APO3xsu86WFXgpVTptJg7ZRrgLGgee4b2fGuqtzrl712rS2kcm1zGh2Vsgr67LOOo4fF_H52M13eXd_OrpbTvNurmWLJMISc8kJxnGdYJjRVGmkOGYcl5ZAXJUxURosiS0mClOQ51yojRJWQUYLH0WSYW3v30urQiJ0Jua4qabVrg0AsSQlhCNMOvfiFbl3rbbedSNKMcI5xmnVUNlC5dyF4XYram5307wJB0Qch-huL_t6iC0IgMQTRickgGld_T_5XmvwhrTbzH5ioixJ_AJy4lyI</recordid><startdate>20160201</startdate><enddate>20160201</enddate><creator>Ali, Mohammed A H</creator><creator>Mailah, Musa</creator><creator>Yussof, Wan Azhar B.</creator><creator>Hamedon, Zamzuri B</creator><creator>Yussof, Zulkifli B.</creator><creator>Majeed, Anwar P P</creator><general>IOP Publishing</general><scope>O3W</scope><scope>TSCCA</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>D1I</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>KB.</scope><scope>L6V</scope><scope>M7S</scope><scope>PDBOC</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>7SR</scope><scope>7TB</scope><scope>8BQ</scope><scope>8FD</scope><scope>FR3</scope><scope>JG9</scope><scope>KR7</scope></search><sort><creationdate>20160201</creationdate><title>Sensors Fusion based Online Mapping and Features Extraction of Mobile Robot in the Road Following and Roundabout</title><author>Ali, Mohammed A H ; Mailah, Musa ; Yussof, Wan Azhar B. ; Hamedon, Zamzuri B ; Yussof, Zulkifli B. ; Majeed, Anwar P P</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c440t-3a8300979db93c63a275be1e90890f7909df02b67dd65421ba9c9eb644bf08743</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2016</creationdate><topic>Algorithms</topic><topic>Cameras</topic><topic>Feature extraction</topic><topic>Laser range finders</topic><topic>Mapping</topic><topic>Position sensing</topic><topic>Roads</topic><topic>Roads &amp; highways</topic><topic>Robots</topic><topic>Roundabouts</topic><topic>Sensors</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Ali, Mohammed A H</creatorcontrib><creatorcontrib>Mailah, Musa</creatorcontrib><creatorcontrib>Yussof, Wan Azhar B.</creatorcontrib><creatorcontrib>Hamedon, Zamzuri B</creatorcontrib><creatorcontrib>Yussof, Zulkifli B.</creatorcontrib><creatorcontrib>Majeed, Anwar P P</creatorcontrib><collection>Institute of Physics Open Access Journal Titles</collection><collection>IOPscience (Open Access)</collection><collection>CrossRef</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science &amp; Engineering Collection</collection><collection>ProQuest Central (Alumni Edition)</collection><collection>ProQuest Central UK/Ireland</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Materials Science Collection</collection><collection>ProQuest Central Korea</collection><collection>SciTech Premium Collection</collection><collection>Materials Science Database</collection><collection>ProQuest Engineering Collection</collection><collection>Engineering Database</collection><collection>Materials Science Collection</collection><collection>Access via ProQuest (Open Access)</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><collection>Engineered Materials Abstracts</collection><collection>Mechanical &amp; Transportation Engineering Abstracts</collection><collection>METADEX</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Materials Research Database</collection><collection>Civil Engineering Abstracts</collection><jtitle>IOP conference series. Materials Science and Engineering</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Ali, Mohammed A H</au><au>Mailah, Musa</au><au>Yussof, Wan Azhar B.</au><au>Hamedon, Zamzuri B</au><au>Yussof, Zulkifli B.</au><au>Majeed, Anwar P P</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Sensors Fusion based Online Mapping and Features Extraction of Mobile Robot in the Road Following and Roundabout</atitle><jtitle>IOP conference series. Materials Science and Engineering</jtitle><addtitle>IOP Conf. Ser.: Mater. Sci. Eng</addtitle><date>2016-02-01</date><risdate>2016</risdate><volume>114</volume><issue>1</issue><spage>12135</spage><epage>12146</epage><pages>12135-12146</pages><issn>1757-8981</issn><eissn>1757-899X</eissn><abstract>A road feature extraction based mapping system using a sensor fusion technique for mobile robot navigation in road environments is presented in this paper. The online mapping of mobile robot is performed continuously in the road environments to find the road properties that enable the robot to move from a certain start position to pre-determined goal while discovering and detecting the roundabout. The sensors fusion involving laser range finder, camera and odometry which are installed in a new platform, are used to find the path of the robot and localize it within its environments. The local maps are developed using camera and laser range finder to recognize the roads borders parameters such as road width, curbs and roundabout. Results show the capability of the robot with the proposed algorithms to effectively identify the road environments and build a local mapping for road following and roundabout.</abstract><cop>Bristol</cop><pub>IOP Publishing</pub><doi>10.1088/1757-899X/114/1/012135</doi><tpages>12</tpages><oa>free_for_read</oa></addata></record>
fulltext fulltext
identifier ISSN: 1757-8981
ispartof IOP conference series. Materials Science and Engineering, 2016-02, Vol.114 (1), p.12135-12146
issn 1757-8981
1757-899X
language eng
recordid cdi_proquest_miscellaneous_1825448137
source Institute of Physics Open Access Journal Titles; Institute of Physics IOPscience extra; EZB-FREE-00999 freely available EZB journals; Free Full-Text Journals in Chemistry
subjects Algorithms
Cameras
Feature extraction
Laser range finders
Mapping
Position sensing
Roads
Roads & highways
Robots
Roundabouts
Sensors
title Sensors Fusion based Online Mapping and Features Extraction of Mobile Robot in the Road Following and Roundabout
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-25T03%3A37%3A08IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_iop_j&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Sensors%20Fusion%20based%20Online%20Mapping%20and%20Features%20Extraction%20of%20Mobile%20Robot%20in%20the%20Road%20Following%20and%20Roundabout&rft.jtitle=IOP%20conference%20series.%20Materials%20Science%20and%20Engineering&rft.au=Ali,%20Mohammed%20A%20H&rft.date=2016-02-01&rft.volume=114&rft.issue=1&rft.spage=12135&rft.epage=12146&rft.pages=12135-12146&rft.issn=1757-8981&rft.eissn=1757-899X&rft_id=info:doi/10.1088/1757-899X/114/1/012135&rft_dat=%3Cproquest_iop_j%3E2564993356%3C/proquest_iop_j%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2564993356&rft_id=info:pmid/&rfr_iscdi=true