ROAD BOUNDARY DETECTION AND TRACKING FOR STRUCTURED AND UNSTRUCTURED ROADS USING A 2D LIDAR SENSOR
- Title
- ROAD BOUNDARY DETECTION AND TRACKING FOR STRUCTURED AND UNSTRUCTURED ROADS USING A 2D LIDAR SENSOR
- Author
- 선우명호
- Keywords
- Lidar; Nearest neighbor filter; Road boundary
- Issue Date
- 2014-06
- Publisher
- KOREAN SOC AUTOMOTIVE ENGINEERS-KSAE, #1301, PARADISE VENTURE TOWER, 52-GIL 21, TEHERAN-RO, GANGNAM-GU, SEOUL 135-919, SOUTH KOREA
- Citation
- INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY,15(4),P.611-623
- Abstract
- Road boundaries can give useful information for evaluating safe vehicle paths in intelligent vehicles. Much previous research has studied road boundary detection, using different types of sensors such as vision, radar, and lidar. Lidar sensors, in particular, show advantages for road boundary extraction including high resolution and wide field of view. However, none of the previous studies examined the problem of detecting road boundaries when roads could be either structured or unstructured. In this study, we developed a road boundary detection and tracking algorithm using lidar sensing for both structured and unstructured roads. The algorithm extracts road features as line segments in polar coordinates relative to the lidar sensor. The extracted road features are then tracked with respect to a vehicle's local coordinates using a nearest neighbor filter. The proposed algorithm accurately detected the road boundaries regardless of the road type.
- URI
- http://link.springer.com/article/10.1007%2Fs12239-014-0064-0http://hdl.handle.net/20.500.11754/56208
- ISSN
- 1229-9138; 1976-3832
- DOI
- 10.1007/s12239-014-0064-0
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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