{"title":"基于激光雷达的道路和道路边缘检测","authors":"Wende Zhang","doi":"10.1109/IVS.2010.5548134","DOIUrl":null,"url":null,"abstract":"In this paper, a LIDAR-based road and road-edge detection method is proposed to identify road regions and road-edges, which is an essential component of autonomous vehicles. LIDAR range data is decomposed into signals in elevation and signals projected on the ground plane. First, the elevation-based signals are processed by filtering techniques to identify the road candidate region, and by pattern recognition techniques to determine whether the candidate region is a road segment. Then, the line representation of the projected signals on the ground plane is identified and compared to a simple road model in the top-down view to determine whether the candidate region is a road segment with its road-edges. The proposed method provides fast processing speed and reliable detection performance of road and road-edge detection. The proposed framework has been verified through the DARPA Urban Challenge to show its robustness and efficiency on the winning entry Boss vehicle.","PeriodicalId":123266,"journal":{"name":"2010 IEEE Intelligent Vehicles Symposium","volume":"23 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"163","resultStr":"{\"title\":\"LIDAR-based road and road-edge detection\",\"authors\":\"Wende Zhang\",\"doi\":\"10.1109/IVS.2010.5548134\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a LIDAR-based road and road-edge detection method is proposed to identify road regions and road-edges, which is an essential component of autonomous vehicles. LIDAR range data is decomposed into signals in elevation and signals projected on the ground plane. First, the elevation-based signals are processed by filtering techniques to identify the road candidate region, and by pattern recognition techniques to determine whether the candidate region is a road segment. Then, the line representation of the projected signals on the ground plane is identified and compared to a simple road model in the top-down view to determine whether the candidate region is a road segment with its road-edges. The proposed method provides fast processing speed and reliable detection performance of road and road-edge detection. The proposed framework has been verified through the DARPA Urban Challenge to show its robustness and efficiency on the winning entry Boss vehicle.\",\"PeriodicalId\":123266,\"journal\":{\"name\":\"2010 IEEE Intelligent Vehicles Symposium\",\"volume\":\"23 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"163\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 IEEE Intelligent Vehicles Symposium\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IVS.2010.5548134\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 IEEE Intelligent Vehicles Symposium","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IVS.2010.5548134","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
In this paper, a LIDAR-based road and road-edge detection method is proposed to identify road regions and road-edges, which is an essential component of autonomous vehicles. LIDAR range data is decomposed into signals in elevation and signals projected on the ground plane. First, the elevation-based signals are processed by filtering techniques to identify the road candidate region, and by pattern recognition techniques to determine whether the candidate region is a road segment. Then, the line representation of the projected signals on the ground plane is identified and compared to a simple road model in the top-down view to determine whether the candidate region is a road segment with its road-edges. The proposed method provides fast processing speed and reliable detection performance of road and road-edge detection. The proposed framework has been verified through the DARPA Urban Challenge to show its robustness and efficiency on the winning entry Boss vehicle.
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