ITEE seminar: Sarath Kodagoda, 10.00AM, Wed 22 Oct 2003

Curb Tracking and Estimation (CuTE)

Speaker: Sarath Kodagoda, (speaker organisation unavailable)

When: 10.00AM, Wednesday 22 Oct 2003

Venue: 78-420

Host: A/Prof Janet Wiles

Abstract:

  Autonomous navigation in an urban environment is a challenging
  task. Among other functions, an important task faced by designers of
  such navigation systems is the sensing, detection and tracking of
  roads. An urban/ semi-urban road environment is characterized by
  curbs and painted lane markings in almost all sections of the road
  network at least in my country of residence, Singapore, thus the
  main inspiration and motivation of the research was to exploit such
  features.

  Since curbs and lane markings are highly correlated with road
  boundaries, those can effectively be fused to enhance
  robustness. Curbs are extracted using laser based range/bearing
  measurements and lane markings are extracted using camera based
  image. The tracking of curbs (equivalent to road boundaries) is
  formulated as detecting and tracking maneuvering targets in clutter
  from a moving platform using on board sensors. The maneuvering
  target, i.e. the curb, is modeled as a nonlinear Markov switching
  process. The target (curb) observations are of three kinds: laser
  road boundary measurements modeled as traditional point-mass
  observations, image road boundary measurements and image mode
  measurements modeled as a discrete-time point process. These
  observations are fused in a unified manner using an Image Enhanced
  Interacting Multiple Model (IE-IMM) approach to realize the CuTE
  (Curb Tracking and Estimation) algorithm. Extensive simulation and
  experimental results are presented from the application of the CuTE
  algorithm to a campus site environment to demonstrate its viability,
  effectiveness and robustness. It can be concluded that the LMS and
  camera based multi-sensor fusion using an image-enhanced interacting
  multiple model framework is viable, effective and efficient in road
  boundary extraction and tracking.

Biography:

 
  Sarath Kodagoda received the BSc. Eng. Hons. degree in electrical
  engineering from the University of Moratuwa, Sri Lanka, in 1995, and
  his M.Eng. degree in the area of mobile robots from Nanyang
  Technological University, Singapore in 2000. He has finished his
  research work on Ph.D. in school of Electrical and Electronic
  Engineering, Nanyang Technological University, Singapore and
  submitted the thesis for reviewing.

  He worked as a Design and Sales Engineer in a multi-national
  transformer manufacturing company: Toroid International Pvt Ltd from
  1996-1998. From 2000-2002, he worked as a Research Associate in the
  project: Development of an autonomous navigation system for an
  outdoor autonomously guided vehicle - (ARC 3/95), in School of EEE,
  Nanyang Technological University, Singapore contributing to the
  design and development of the AGV. He is an author of more than 16
  international journal and conference papers. His current research
  interests are, mobile robotics, sensor fusion and target tracking.

  Mr. Kodagoda is a Member of the IEE and Associate Member of the
  Institution of Engineers, Sri Lanka. His biography is published in
  the 07th edition of Who’s Who in Science and Engineering, USA.

Contact:

A/Prof Janet Wiles, seminar host (janet@itee.uq.edu.au)
or Guido Governatori (ITEE seminar co-ordinator) (guido@itee.uq.edu.au)

ITEE seminar web page: http://www.itee.uq.edu.au/~seminar

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