文章詳目資料
Journal of Computers EIMEDLINEScopus
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| 篇名 | Dynamic Road Surface Detection Method Based on 3D Lidar |
|---|---|
| 卷期 | 30:6 |
| 作者 | Yi-Shueh Tsai 、 Yu-Fang Wang |
| 頁次 | 323-332 |
| 關鍵字 | classification 、 ground 、 growing 、 lidar 、 road 、 EI 、 MEDLINE 、 Scopus |
| 出刊日期 | 201912 |
| DOI | 10.3966/199115992019123006027 |
中文摘要
英文摘要
This paper propose a road surface classification method based on 3D-lidar that is not required to be high-resolution. Lidar range data is transformed with static calibration result, and the near-ground points are extracted with a ground elevation estimation method. After filling the scanning gaps with interpolation, the continuity of each scan lines at each point is examined by its polar interpretation. The smoothness is analyzed in the same interpretation with simple linear regression to evaluate the estimated angle feature. The road boundaries defined by the two criteria form the road surface with region growing method. The proposed method has been verified through actual road scenario to show its robustness and efficiency on two different vehicle mounting configurations.
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