Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck
Road boundary detection is an important part of the perception of the autonomous driving. It is difficult to detect road boundaries of unstructured roads because there are no curbs. There are no clear boundaries on mine roads to distinguish areas within the road boundary line and areas outside the r...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-02-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/4/1121 |
| _version_ | 1798041330111217664 |
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| author | Xiaowei Lu Yunfeng Ai Bin Tian |
| author_facet | Xiaowei Lu Yunfeng Ai Bin Tian |
| author_sort | Xiaowei Lu |
| collection | DOAJ |
| description | Road boundary detection is an important part of the perception of the autonomous driving. It is difficult to detect road boundaries of unstructured roads because there are no curbs. There are no clear boundaries on mine roads to distinguish areas within the road boundary line and areas outside the road boundary line. This paper proposes a real-time road boundary detection and tracking method by a 3D-LIDAR sensor. The road boundary points are extracted from the detected elevated point clouds above the ground point cloud according to the spatial distance characteristics and the angular features. Road tracking is to predict and update the boundary point information in real-time, in order to prevent false and missed detection. The experimental verification of mine road data shows the accuracy and robustness of the proposed algorithm. |
| first_indexed | 2024-04-11T22:20:04Z |
| format | Article |
| id | doaj.art-590b098fd13c445d8af30dca6c857f2c |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T22:20:04Z |
| publishDate | 2020-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-590b098fd13c445d8af30dca6c857f2c2022-12-22T04:00:10ZengMDPI AGSensors1424-82202020-02-01204112110.3390/s20041121s20041121Real-Time Mine Road Boundary Detection and Tracking for Autonomous TruckXiaowei Lu0Yunfeng Ai1Bin Tian2Waytous Inc., Beijing 100083, ChinaWaytous Inc., Beijing 100083, ChinaState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, ChinaRoad boundary detection is an important part of the perception of the autonomous driving. It is difficult to detect road boundaries of unstructured roads because there are no curbs. There are no clear boundaries on mine roads to distinguish areas within the road boundary line and areas outside the road boundary line. This paper proposes a real-time road boundary detection and tracking method by a 3D-LIDAR sensor. The road boundary points are extracted from the detected elevated point clouds above the ground point cloud according to the spatial distance characteristics and the angular features. Road tracking is to predict and update the boundary point information in real-time, in order to prevent false and missed detection. The experimental verification of mine road data shows the accuracy and robustness of the proposed algorithm.https://www.mdpi.com/1424-8220/20/4/1121unstructured roadroad boundary detectionautomatic truckmine scene |
| spellingShingle | Xiaowei Lu Yunfeng Ai Bin Tian Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck Sensors unstructured road road boundary detection automatic truck mine scene |
| title | Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck |
| title_full | Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck |
| title_fullStr | Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck |
| title_full_unstemmed | Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck |
| title_short | Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck |
| title_sort | real time mine road boundary detection and tracking for autonomous truck |
| topic | unstructured road road boundary detection automatic truck mine scene |
| url | https://www.mdpi.com/1424-8220/20/4/1121 |
| work_keys_str_mv | AT xiaoweilu realtimemineroadboundarydetectionandtrackingforautonomoustruck AT yunfengai realtimemineroadboundarydetectionandtrackingforautonomoustruck AT bintian realtimemineroadboundarydetectionandtrackingforautonomoustruck |