An Algorithm for Road Boundary Extraction and Obstacle Detection Based on 3D Lidar
WANG Can1,2, KONG Bin1,2, YANG Jing1,2, WANG Zhiling2,3, ZHU Hui2,3
1.Special Robot Laboratory, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031 2.Anhui Engineering Laboratory for Intelligent Driving Technology and Application, Hefei 230088 3.Research Center of Intelligent Vehicle Technology, Institute of Applied Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230088
Abstract：To extract relevant road information quickly and effectively for intelligent vehicles in various road environments, an algorithm for real-time road boundary extraction and obstacle detection based on three-dimensional (3D) lidar is proposed. Firstly, 3D lidar point cloud data is rasterized and filtered, and the single beam laser point cloud spatial segmentation method is employed for spatial analysis to obtain the point cloud smoothness characteristic image. Then, the adaptive direction search algorithm is adopted to obtain the road boundary feature points and perform cluster analysis and curve fitting. Finally, the point cloud in the passable area is clustered and segmented under the road boundary constraint to obtain the obstacle position information. Experiments show that the proposed algorithm extracts road boundary and obstacle location information accurately in real time, and it meets the requirements of environment modeling and path planning for intelligent vehicle.
王灿, 孔斌, 杨静, 王智灵, 祝辉. 基于三维激光雷达的道路边界提取和障碍物检测算法[J]. 模式识别与人工智能, 2020, 33(4): 353-362.
WANG Can, KONG Bin, YANG Jing, WANG Zhiling, ZHU Hui. An Algorithm for Road Boundary Extraction and Obstacle Detection Based on 3D Lidar. , 2020, 33(4): 353-362.
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2020, Vol. 33 
