Citation

Zhao H, Chiba M, Shibasaki R, Shao X, Cui J, Zha H. IEEE Trans. Intel. Transp. Syst. 2009; 10(3): 534-546.

Copyright

(Copyright © 2009, IEEE (Institute of Electrical and Electronics Engineers))

DOI

10.1109/TITS.2009.2026450

PMID

unavailable

Abstract

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.