Road boundary detection algorithm based on multi-line 3D laser radar | |
---|---|
( Volume 3 Issue 8,August 2017 ) OPEN ACCESS | |
Author(s): | |
Zhi Wei-Zhong, Peng Fei-Wang, Ze Peng-Zhang, Zheng-Yang, Hui-Zhang | |
Abstract: | |
A road boundary detection algorithm based on multi-line 3D lidar is proposed for urban structural road boundary detection. The principle of this algorithm is that the point cloud data is extracted from a certain height road environment based on the existence of a certain elevation transition between the structured road area and the non-road area. Then, the region of interest is divided into four parts based on the radar coordinate system. According to the different regions, the point cloud data with obvious gradient (increasing and decreasing) are extracted by using the data gradient analysis. Finally, the least square method and the uniform non-periodic B - spline curve method are used to fit the road boundary of the straight and the curve respectively. The experimental results show that the algorithm can meet the task of real-time detection of intelligent vehicle road boundary for obstructing whether the road boundary is obstructed and whether the road boundary is continuous with high accuracy and robustness. |
|
Paper Statistics: | Total View : 585 | Downloads : 576 | Page No: 12-15 | |
Cite this Article: | Click here to get all Styles of Citation using DOI of the article. |