Comprehensive situational awareness is paramount to the effectiveness of proprietary navigational and higher-level functions of intelligent vehicles. In this paper, we address a graph-based approach for 2D road representation of 3D point clouds with respect to the road topography. We employ the gradient cues of the road geometry to construct a Markov Random Filed (MRF) and implement an efficient belief propagation (BP) algorithm to classify the road environment into four categories, i.e. the reachable region, the drivable region, the obstacle region and the unknown region. The proposed approach can overcome a wide variety of practical challenges, such as sloped terrains, rough road surfaces, rolling/pitching of the host vehicle, etc., and represent the road environment accurately as well as robustly. Experimental results in typical but challenging environments have substantiated that the proposed approach is more sensitive and reliable than the conventional vertical displacements analysis and show superior performance against other local classifiers.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Graph-based 2D road representation of 3D point clouds for intelligent vehicles


    Contributors:
    Chunzhao Guo, (author) / Sato, W. (author) / Long Han, (author) / Mita, S. (author) / McAllester, D. (author)


    Publication date :

    2011-06-01


    Size :

    842242 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Graph-Based 2D Road Representation of 3D Point Clouds for Intelligent Vehicles

    Guo, C. / Mita, S. / McAllester, D. et al. | British Library Conference Proceedings | 2011


    Efficient scene understanding for intelligent vehicles using a part-based road representation

    Topfer, Daniel / Spehr, Jens / Effertz, Jan et al. | IEEE | 2013


    Point clouds registration system for autonomous vehicles

    HE RUNXIN / XIAO YONG / YUAN PENGFEI et al. | European Patent Office | 2023

    Free access

    Graph based over-segmentation methods for 3D point clouds

    Ben-Shabat, Yizhak / Avraham, Tamar / Lindenbaum, Michael et al. | British Library Online Contents | 2018


    Vision for Intelligent Road Vehicles

    Graefe, V. / IEEE | British Library Conference Proceedings | 1993