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.


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    Title :

    LIDAR-based road and road-edge detection


    Contributors:


    Publication date :

    2010-06-01


    Size :

    480333 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    LIDAR-Based Road and Road-Edge Detection, pp. 845-848

    Zhang, W. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2010


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