Title :
LIDAR-based road and road-edge detection
Author_Institution :
Electr. & Controls Integration Lab., Gen. Motors Corp., Warren, MI, USA
Abstract :
In this paper, a LIDAR-based road and road-edge detection method is proposed to identify road regions and road-edges, which is an essential component of autonomous vehicles. LIDAR range data is decomposed into signals in elevation and signals projected on the ground plane. First, the elevation-based signals are processed by filtering techniques to identify the road candidate region, and by pattern recognition techniques to determine whether the candidate region is a road segment. Then, the line representation of the projected signals on the ground plane is identified and compared to a simple road model in the top-down view to determine whether the candidate region is a road segment with its road-edges. The proposed method provides fast processing speed and reliable detection performance of road and road-edge detection. The proposed framework has been verified through the DARPA Urban Challenge to show its robustness and efficiency on the winning entry Boss vehicle.
Keywords :
edge detection; filtering theory; optical radar; traffic information systems; DARPA Urban Challenge; Defense Advanced Research Projects Agency; LIDAR based road edge detection; elevation based signal processing; filtering technique; pattern recognition; Algorithm design and analysis; Data mining; Laser radar; Mobile robots; Remotely operated vehicles; Road vehicles; Robustness; Sensor arrays; Signal processing; Vehicle detection;
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2010 IEEE
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-7866-8
DOI :
10.1109/IVS.2010.5548134
