A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data
AbstractCurb detection is an important research topic in environment perception, which is an essential part of unmanned ground vehicle (UGV) operations. In this paper, a new curb detection method using a 2D laser range finder in a semi-structured environment is presented. In the proposed method, firstly, a local Digital Elevation Map (DEM) is built using 2D sequential laser rangefinder data and vehicle state data in a dynamic environment and a probabilistic moving object deletion approach is proposed to cope with the effect of moving objects. Secondly, the curb candidate points are extracted based on the moving direction of the vehicle in the local DEM. Finally, the straight and curved curbs are detected by the Hough transform and the multi-model RANSAC algorithm, respectively. The proposed method can detect the curbs robustly in both static and typical dynamic environments. The proposed method has been verified in real vehicle experiments. View Full-Text
Scifeed alert for new publicationsNever miss any articles matching your research from any publisher
- Get alerts for new papers matching your research
- Find out the new papers from selected authors
- Updated daily for 49'000+ journals and 6000+ publishers
- Define your Scifeed now
Liu, Z.; Wang, J.; Liu, D. A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data. Sensors 2013, 13, 1102-1120.
Liu Z, Wang J, Liu D. A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data. Sensors. 2013; 13(1):1102-1120.Chicago/Turabian Style
Liu, Zhao; Wang, Jinling; Liu, Daxue. 2013. "A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data." Sensors 13, no. 1: 1102-1120.