This paper presents a method to detect curb in city by 3D range information, which is provided by the laser radar mounted in a moving vehicle. First, a CS median filter is used to suppress noises. Then, the 3D information of curb is obtained based on the height difference between curb and road surface. After that, edge operation and mathematical morphology filter are used to segment curb from the whole range image. In this way, the relative position between the curb and the host vehicle can be acquired, which is important to driving-assistance. Experimental results show that the approach has high robustness and accuracy.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Study on curb detection method based on 3D range image by LaserRadar


    Contributors:
    Wang Rong-ben, (author) / Gu Bai-yuan, (author) / Jin Li-sheng, (author) / Yu Tian-hong, (author) / Gou Lie, (author)


    Publication date :

    2005-01-01


    Size :

    480195 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Bildgebendes Laserradar Präzisionsvermessungssystem

    Meixner, Jörg | Online Contents | 2002


    Bildgebendes Laserradar Präzisionsvermessungssystem

    Meixner, Jörg / Heinz, Irene | IuD Bahn | 2002


    Koherent Laserradar (Coherent Laser Radar)

    D. Letalick / I. Renhorn / O. Steinvall et al. | NTIS | 1988



    Study on Curb Detection Method Based on 3D Range Image by Laser Radar

    Wang, R.-b. / Gu, B.-y. / Jin, L.-s. et al. | British Library Conference Proceedings | 2005