Detection of Road Obstacles Using 3D Lidar Data via Road Plane Fitting

摘要：

　　Detection of road obstacles is essential for autonomous driving of intelligent vehicles on highways and urban roads.In this paper,we present a robust and accurate road obstacle detection method using 3D lidar data.First,we acquire a stable and accurate description of road curbs through double validations.Then,a RANSAC and least squares road plane fitting procedure is performed.Finally,obstacles including cars,trucks,pedestrians,and bikes are detected based on the road plane.Experimental results show good performances of the proposed method on various road situations.

关键词： Obstacle detection Curb detection Road fitting Autonomous driving

作者: Xiong Chen Zhidong Deng

作者单位: State Key Laboratory of Intelligent Technology and Systems,Tsinghua National Laboratory for Information Science and Technology,Department of Computer Science,Tsinghua University,Beijing 100084,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 441-449

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）