Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Map Building Based on Sensor Fusion for Autonomous Vehicle

자율주행을 위한 센서 데이터 융합 기반의 맵 생성

  • Kang, Minsung (Department of Information Communication Engineering, Yeongnam University) ;
  • Hur, Soojung (Sensor System Research Center, Korea Institute of Science & Technology) ;
  • Park, Ikhyun (Department of Information Communication Engineering, Yeongnam University) ;
  • Park, Yongwan (Department of Information Communication Engineering, Yeongnam University)
  • 강민성 (영남대학교 정보통신공학과) ;
  • 허수정 (한국과학기술연구원 센서시스템 연구센터) ;
  • 박익현 (영남대학교 정보통신공학과) ;
  • 박용완 (영남대학교 정보통신공학과)
  • Received : 2013.11.28
  • Accepted : 2014.04.21
  • Published : 2014.09.01
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Abstract

An autonomous vehicle requires a technology of generating maps by recognizing surrounding environment. The recognition of the vehicle's environment can be achieved by using distance information from a 2D laser scanner and color information from a camera. Such sensor information is used to generate 2D or 3D maps. A 2D map is used mostly for generating routs, because it contains information only about a section. In contrast, a 3D map involves height values also, and therefore can be used not only for generating routs but also for finding out vehicle accessible space. Nevertheless, an autonomous vehicle using 3D maps has difficulty in recognizing environment in real time. Accordingly, this paper proposes the technology for generating 2D maps that guarantee real-time recognition. The proposed technology uses only the color information obtained by removing height values from 3D maps generated based on the fusion of 2D laser scanner and camera data.

Keywords

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