Rut tracking and steering control for autonomous rut following
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
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In this paper an optical configuration based on autosynchronized laser scanning is proposed for the 3D measurement of road surfaces. The advantages of this technique over classical triangulation methods are exposed. The road inspection system developed at the National Optics Institute (NOI) using this type of laser telemetry is also presented. This system uses two autosynchronized laser scanners in order to obtain transverse 3D and intensity profiles of road surfaces. Also described are simple algorithms which detect and measure rutting and cracking conditions. Results include rut measurements on both real and simulated 3D road profiles and a crack map of an actual pavement section.