Road Boundary Detection Based On Information Entropy
Detecting the road boundary is an important step for the applications of Intelligent Vehicle(IV),such as generating the region of interest(ROI)as a prior information for object detection or path planning.Hereafter we propose a new method for detecting road boundaries using Laser Interferometry Detection and Ranging(LIDAR).Ground points are firstly removed from LIDAR point cloud through a preprocessing procedure.Then information entropy is applied here for estimating the steering angle of the host vehicle.The estimated steering angle is later employed to rectify the point cloud.Road boundaries are finally detected based on the maximal value of the corresponding histogram.We compare this approach to the traditional histogram based road boundary detection method.Experiments showed that the proposed method can effectively detect road boundaries even in steering situations and outperform the traditional method.
Intelligent Vehicle LIDAR Road Boundary Detection Information Entropy
Xiao Hu Chao Huang Wei Cai
School of Automation,Northwestern Polytechnic University,Xian,710072;Department of Information,Comp Department of Information,Compiègne University of Technology,Compiègne,60200,France Laboratoire de Mécanique des Fluides et dAcoustique(LMFA)-UMR 5509,Institut national des sciences a
国际会议
长沙
英文
1520-1525
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）