Laser-camera composite sensing for road detection and tracing

An important feature in most urban roads and similar environments, such as in theme parks, campus sites, industrial estates, science parks, and the like, is the existence of pavements or curbs on either side de?ning the road boundaries. These curbs, which are mostly parallel to the road, can be harnessed to extract useful features of the road for implementing autonomous navigation or driver assistance systems. However, vision-alone methods for extraction of such curbs or road edge features with accurate depth information is a formidable task, as the curb is not conspicuous in the vision image and also requires the use of stereo images. Further, bad lighting, adverse weather conditions, nonlinear lens aberrations, or lens glare due to sun and other bright light sources can severely impair the road image quality and thus the operation of vision-alone methods. In this paper an alternative and novel approach involving the fusion of 2D laser range and monochrome vision image data is proposed to improve the robustness and reliability. Experimental results are presented to demonstrate the viability and effectiveness of the proposed methodology and its robustness to different road configurations and shadows

Road curb and intersection detection using A 2D LMS

In most urban roads, and similar environments such as in theme parks, campus sites, industrial estates, science parks and the like, the painted lane markings that exist may not be easily discernible by CCD cameras due to poor lighting, bad weather conditions, and inadequate maintenance. An important feature of roads in such environments is the existence of pavements or curbs on either side defining the road boundaries. These curbs, which are mostly parallel to the road, can be hardnessed to extract useful features of the road for implementing autonomous navigation or driver assistance systems. However, extraction of the curb or road edge feature using vision image data is a very formidable task as the curb is not conspicuous in the vision image. To extract the curb using vision data requires extensive image processing, heuristics and very favorable ambient lighting. In our approach, road curbs are extracted speedily using range data provided by a 2D Laser range Measurement System (LMS). Experimental results are presented to demonstrate the viability, and effectiveness, of the proposed methodology and its robustness to different road configurations including road intersections

Road curb tracking in an urban environment

Road detection and tracking is very useful in the synthesis of driver assistance and intelligent transportation systems. In this paper a methodology is proposed based on the extended Kalman filer for robust road curb detection and tracking using a combination of onboard active and passive sensors. The problem is formulated as detecting and tracking a maneuvering target in clutter using onboard sensors on a moving platform. The primary sensors utilized are a 2 dimensional SICK laser scanner, five encoders and a gyroscope, together with an image sensor (CCD camera). Compared to the active 20 laser scanner the CCD camera is capable of providing observations over an extended horizon, thus making available much useful information about the curb trend, which is exploited in mainly the laser based tracking algorithm. The advantage of the proposed image enhanced laser detection/tracking method, over laser alone detection/tracking, is illustrated using simulations and its robustness to varied road curvatures, branching, turns and scenarios, is demonstrated through experimental results. © 2003 ISlF

Development of bent-up triangular tab shear transfer (BTTST) enhancement in cold-formed steel (CFS)-concrete composite beams

Cold-formed steel (CFS) sections, have been recognised as an important contributor to environmentally responsible and sustainable structures in developed countries, and CFS framing is considered as a sustainable 'green' construction material for low rise residential and commercial buildings. However, there is still lacking of data and information on the behaviour and performance of CFS beam in composite construction. The use of CFS has been limited to structural roof trusses and a host of nonstructural applications. One of the limiting features of CFS is the thinness of its section (usually between 1.2 and 3.2 mm thick) that makes it susceptible to torsional, distortional, lateral-torsional, lateral-distortional and local buckling. Hence, a reasonable solution is resorting to a composite construction of structural CFS section and reinforced concrete deck slab, which minimises the distance from the neutral-axis to the top of the deck and reduces the compressive bending stress in the CFS sections. Also, by arranging two CFS channel sections back-to-back restores symmetricity and suppresses lateraltorsional and to a lesser extent, lateral-distortional buckling. The two-fold advantages promised by the system, promote the use of CFS sections in a wider range of structural applications. An efficient and innovative floor system of built-up CFS sections acting compositely with a concrete deck slab was developed to provide an alternative composite system for floors and roofs in buildings. The system, called Precast Cold-Formed SteelConcrete Composite System, is designed to rely on composite actions between the CFS sections and a reinforced concrete deck where shear forces between them are effectively transmitted via another innovative shear transfer enhancement mechanism called a bentup triangular tab shear transfer (BTTST). The study mainly comprises two major components, i.e. experimental and theoretical work. Experimental work involved smallscale and large-scale testing of laboratory tests. Sixty eight push-out test specimens and fifteen large-scale CFS-concrete composite beams specimens were tested in this program. In the small-scale test, a push-out test was carried out to determine the strength and behaviour of the shear transfer enhancement between the CFS and concrete. Four major parameters were studied, which include compressive strength of concrete, CFS strength, dimensions (size and angle) of BTTST and CFS thickness. The results from push-out test were used to develop an expression in order to predict the shear capacity of innovative shear transfer enhancement mechanism, BTTST in CFS-concrete composite beams. The value of shear capacity was used to calculate the theoretical moment capacity of CFSconcrete composite beams. The theoretical moment capacities were used to validate the large-scale test results. The large-scale test specimens were tested by using four-point load bending test. The results in push-out tests show that specimens employed with BTTST achieved higher shear capacities compared to those that rely only on a natural bond between cold-formed steel and concrete and specimens with Lakkavalli and Liu bent-up tab (LYLB). Load capacities for push-out test specimens with BTTST are ii relatively higher as compared to the equivalent control specimen, i.e. by 91% to 135%. When compared to LYLB specimens the increment is 12% to 16%. In addition, shear capacities of BTTST also increase with the increase in dimensions (size and angle) of BTTST, thickness of CFS and concrete compressive strength. An equation was developed to determine the shear capacity of BTTST and the value is in good agreement with the observed test values. The average absolute difference between the test values and predicted values was found to be 8.07%. The average arithmetic mean of the test/predicted ratio (n) of this equation is 0.9954. The standard deviation (a) and the coefficient of variation (CV) for the proposed equation were 0.09682 and 9.7%, respectively. The proposed equation is recommended for the design of BTTST in CFSconcrete composite beams. In large-scale testing, specimens employed with BTTST increased the strength capacities and reduced the deflection of the specimens. The moment capacities, MU ) e X p for all specimens are above Mu>theory and show good agreement with the calculated ratio (>1.00). It is also found that, strength capacities of CFS-concrete composite beams also increase with the increase in dimensions (size and angle) of BTTST, thickness of CFS and concrete compressive strength and a CFS-concrete composite beam are practically designed with partial shear connection for equal moment capacity by reducing number of BTTST. It is concluded that the proposed BTTST shear transfer enhancement in CFS-concrete composite beams has sufficient strength and is also feasible. Finally, a standard table of characteristic resistance, P t a b of BTTST in normal weight concrete, was also developed to simplify the design calculation of CFSconcrete composite beams

Autonomous mobility scooters as assistive tools for the elderly

The aim of this research is to investigate the development of an autonomous navigation system that could be used as an assistive tool for elderly and disabled people in their activities of daily living. The navigation environment is an urban environment and the platform is a Mobility Scooter (MoS). To achieve this aim, a differentially steered MoS was modifed to receive motion commands from a computer and outfitted with onboard sensors that included a Global Positioning System (GPS) receiver and two 2D planar laser range sensors. Perception methods were developed to detect the presence of an outdoor pedestrian walkway. These methods achieved this by processing the range data produced by the laser sensors to identify features that are typically found around walkways like curbs, low vegetation, walls and barriers. A method that utilises GPS localisation information to plan and navigate a route in an outdoor urban environment was also developed. Extensive experimental work was conducted to test the accuracy, repeatability and usefulness of the sensory devices. The developed perception methodologies were evaluated in real world environments while the navigation algorithms were predominantly tested in virtual environments. A navigation system that plans a route in an urban environment and follows it using behaviours arranged in a hierarchy is presented and shown to have the ability to safely navigate an MoS along an outdoor pedestrian path

Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout

A road mapping and feature extraction for mobile robot navigation in road roundabout and road following environments is presented in this chapter. In this work, the online mapping of mobile robot employing the utilization of sensor fusion technique is used to extract the road characteristics that will be used with path planning algorithm to enable the robot to move from a certain start position to predetermined goal, such as road curbs, road borders, and roundabout. The sensor fusion is performed using many sensors, namely, laser range finder, camera, and odometry, which are combined on a new wheeled mobile robot prototype to determine the best optimum path of the robot and localize it within its environments. The local maps are developed using an image’s preprocessing and processing algorithms and an artificial threshold of LRF signal processing to recognize the road environment parameters such as road curbs, width, and roundabout. The path planning in the road environments is accomplished using a novel approach so called Laser Simulator to find the trajectory in the local maps developed by sensor fusion. Results show the capability of the wheeled mobile robot to effectively recognize the road environments, build a local mapping, and find the path in both road following and roundabout

Adaptive obstacle detection for mobile robots in urban environments using downward-looking 2D LiDAR

Environment perception is important for collision-free motion planning of outdoor mobile robots. This paper presents an adaptive obstacle detection method for outdoor mobile robots using a single downward-looking LiDAR sensor. The method begins by extracting line segments from the raw sensor data, and then estimates the height and the vector of the scanned road surface at each moment. Subsequently, the segments are divided into either road ground or obstacles based on the average height of each line segment and the deviation between the line segment and the road vector estimated from the previous measurements. A series of experiments have been conducted in several scenarios, including normal scenes and complex scenes. The experimental results show that the proposed approach can accurately detect obstacles on roads and could effectively deal with the different heights of obstacles in urban road environments