Details

Autor(en) / Beteiligte

• Zhang, Wende

Titel

LIDAR-based road and road-edge detection

Ist Teil von

• 2010 IEEE Intelligent Vehicles Symposium, 2010, p.845-848

Ort / Verlag

IEEE

Erscheinungsjahr

2010

Quelle

IEL

Beschreibungen/Notizen

• 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.