A New Roadside Detection Method Based on Obstacle Detection

被引：0

作者：

Yu, Chunhe ^{[1
]}

Zhang, Danping ^{[1
]}

Guo, Rui ^{[1
]}

机构：

[1] Shenyang Aerosp Univ, Dept Elect & Informat Engn, Shenyang 110034, Peoples R China

来源：

MANUFACTURING SYSTEMS ENGINEERING | 2012年 / 429卷

关键词：

Laser radar; roadside detection; obstacle detection;

D O I：

10.4028/www.scientific.net/AMR.429.324

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to provide road information for outdoor mobile robot in a complicated environment, a new roadside detection method is proposed based on obstacle detection by applying a four-layer laser radar LD_ML. Because roadside obstacles distribute alone a road, theirs fitting straight lines are parallel to the road. The roadsides detection algorithm includes four steps: first, judge if there are obstacles along roadside or not; second, extract obstacles which belong to roadsides; third, build fitting straight lines through the roadside obstacles; at last, in order to obtain steady and precise roadsides, a EKF method is performed to track the roadsides. The results of experiment have testified the road roadsides detection algorithm has high stability and reliability.

引用

页码：324 / 328

页数：5

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