Detection of road boundaries and obstacles using LIDAR

Author

Yalcin, O. ; Sayar, A. ; Arar, O.F. ; Apinar, S. ; Kosunalp, S.

Author_Institution

TUBITAK, Kocaeli, Turkey

fYear

2014

fDate

25-26 Sept. 2014

Firstpage

6

Lastpage

10

Abstract

This paper proposes a novel approach to detecting road boundaries and obstacles for robust urban navigation of unmanned ground vehicles (UGVs). In this method, a 2-D Light Detection and Ranging (LIDAR) sensor mounted at a given pitch angle is used to extract the road surface. The information obtained about the road is evaluated by filters to detect whether the area scanned is a road or an obstacle. The proposed method is implemented through simulation and a real-life test vehicle called AKAY01.

Keywords

feature extraction; mobile robots; object detection; optical radar; optical sensors; path planning; road vehicles; robust control; 2D light detection and ranging sensor; AKAY01; LIDAR sensor; UGV; filters; pitch angle; real-life test vehicle; road boundaries detection; road obstacles detection; road surface extraction; robust urban navigation; unmanned ground vehicles; Feature extraction; Laser beams; Laser radar; Measurement by laser beam; Roads; Robot sensing systems; Vehicles; AKAY01; LIDAR; obstacle; road boundary; unmanned ground vehicles (UGVs);

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Electronic Engineering Conference (CEEC), 2014 6th

Conference_Location

Colchester

Type

conf

DOI

10.1109/CEEC.2014.6958546

Filename

6958546