Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban environments (in particular in comparison to other elements of the road such as traffic signs and road markings). These difficulties arise from occlusions by other traffic participants as well as changing lighting and/or weather conditions. Moreover, road boundaries have various shapes, colours and structures while motion planning algorithms require accurate and precise metric information in real-time to generate their plans.In this paper, we present a real-time LIDAR-based approach for accurate curb detection around the vehicle (360 degree). Our approach deals with both occlusions from traffic and changing environmental conditions. To this end, we project 3D LIDAR pointcloud data into 2D bird’s-eye view images (akin to Inverse Perspective Mapping). These images are then processed by trained deep networks to infer both visible and occluded road boundaries. Finally, a post-processing step filters detected curb segments and tracks them over time. Experimental results demonstrate the effectiveness of the proposed approach on real-world driving data. Hence, we believe that our LIDAR-based approach provides an efficient and effective way to detect visible and occluded curbs around the vehicles in challenging driving scenarios.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Online Inference and Detection of Curbs in Partially Occluded Scenes with Sparse LIDAR


    Contributors:


    Publication date :

    2019-10-01


    Size :

    2144221 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Reflecting curbs

    Van Breemen, W. | Engineering Index Backfile | 1940


    TECHNIQUES FOR IDENTIFYING CURBS

    PFEIFFER DAVID / WANG ZENG / ZHAI QIANG | European Patent Office | 2023

    Free access

    PARTIALLY OCCLUDED OBJECT DETECTION USING CONTEXT AND DEPTH ORDERING

    AYVACI ALPER / HEISELE BERND / ZHENG JINGJING | European Patent Office | 2017

    Free access

    Safety of roadside curbs

    Navin,F.P. / Thomson,R. / Univ.of British Columbia,US | Automotive engineering | 1997


    Techniques for identifying curbs

    PFEIFFER DANIEL / WANG ZENG / ZHAI QIAOQI | European Patent Office | 2024

    Free access