@article{ref1,
title="A Laser-Scanner-Based Approach Toward Driving Safety and Traffic Data Collection",
journal="IEEE transactions on intelligent transportation systems",
year="2009",
author="Zhao, Huijing and Chiba, M. and Shibasaki, R. and Shao, Xiaowei and Cui, Jinshi and Zha, Hongbin",
volume="10",
number="3",
pages="534-546",
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.<p />",
language="",
issn="1524-9050",
doi="10.1109/TITS.2009.2026450",
url="http://dx.doi.org/10.1109/TITS.2009.2026450"
}