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浙江大学学报(工学版)
浙江大学学报(工学版)  2018, Vol. 52 Issue (3): 504-514    DOI: 10.3785/j.issn.1008-973X.2018.03.012
计算机与通信技术     
基于3D激光雷达城市道路边界鲁棒检测算法
孙朋朋, 赵祥模, 徐志刚, 闵海根
长安大学 信息工程学院, 陕西 西安 710064
Urban curb robust detection algorithm based on 3D-LIDAR
SUN Peng-peng, ZHAO Xiang-mo, XU Zhi-gang, MIN Hai-gen
School of Information Engineering, Chang'an University, Xi'an 710064, China
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摘要：

对点云预处理，并采用点云映射的方式快速分割出地面，同时消除路内障碍物以降低数据量；将分割出的地面数据组织成无向图，结合道路边界的多种局部特征和全局连续性特征提取边界点；根据道路边界点的测量模型修正提取的边界点，并采用二次多项式拟合修正后的边界点；采用多种策略对道路边界进行更新以使相邻两帧检测的道路边界保持平滑.实验证明，在道路边界不规则、存在路内障碍物遮挡边界的情况下，采用该方法得到的道路边界检测结果依然具有较高的鲁棒性和准确性.
Abstract:

The point cloud was preprocessed and used to segment the ground part from the background rapidly based on point mapping. Simultaneously, with the preprocessed points cloud, the obstacles in the road can be removed to reduce the number of points and refine the input data for the coming process. The segmented ground data was organized into an undirected graph. With fusing several local features and global continuity features of the road curb, most candidate curb points could be extracted and the fake curb points could be eliminated. Furthermore, a measurement model was utilized to correct the extracted curb points, and then a quadratic polynomial fitting algorithm was applied to get the curve of the two curbs. Finally, several strategies were used to update the detected curbs and smooth the curb curve in the consecutive point cloud frames. The experimental results show that the proposed curb detection algorithm has high robustness and accuracy under the condition of both irregular and occluded road curb even there are obstacles in the road.
收稿日期: 2017-04-13 出版日期: 2018-09-11
CLC:  TP391.4  
基金资助:

国家自然科学基金资助项目（51278058）；“高等学校学科创新引智计划”专项资助项目（B14043）；交通运输部基础应用研究资助项目（2015319812060）；中央高校基本业务研究资助项目（310824173307）.
通讯作者: 徐志刚,男,副教授.orcid.org/0000-0002-8479-4973.     E-mail: xuzhigang@chd.edu.cn
作者简介: 孙朋朋(1990-),男,博士生,从事无人车驾驶环境感知关键技术研究.orcid.org/0000-0003-0252-3705.E-mail:pengpeng.sun@chd.edu.cn
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引用本文:

孙朋朋, 赵祥模, 徐志刚, 闵海根. 基于3D激光雷达城市道路边界鲁棒检测算法[J]. 浙江大学学报(工学版), 2018, 52(3): 504-514.

SUN Peng-peng, ZHAO Xiang-mo, XU Zhi-gang, MIN Hai-gen. Urban curb robust detection algorithm based on 3D-LIDAR. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2018, 52(3): 504-514.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2018.03.012    或    http://www.zjujournals.com/eng/CN/Y2018/V52/I3/504

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