Robust Object Segmentation Using a Multi-Layer Laser Scanner
The major problem in an advanced driver assistance system (ADAS) is the proper use of sensor measurements and recognition of the surrounding environment. To this end, there are several types of sensors to consider, one of which is the laser scanner. In this paper, we propose a method to segment the...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2014-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/14/11/20400 |
| _version_ | 1828285319020019712 |
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| author | Beomseong Kim Baehoon Choi Minkyun Yoo Hyunju Kim Euntai Kim |
| author_facet | Beomseong Kim Baehoon Choi Minkyun Yoo Hyunju Kim Euntai Kim |
| author_sort | Beomseong Kim |
| collection | DOAJ |
| description | The major problem in an advanced driver assistance system (ADAS) is the proper use of sensor measurements and recognition of the surrounding environment. To this end, there are several types of sensors to consider, one of which is the laser scanner. In this paper, we propose a method to segment the measurement of the surrounding environment as obtained by a multi-layer laser scanner. In the segmentation, a full set of measurements is decomposed into several segments, each representing a single object. Sometimes a ghost is detected due to the ground or fog, and the ghost has to be eliminated to ensure the stability of the system. The proposed method is implemented on a real vehicle, and its performance is tested in a real-world environment. The experiments show that the proposed method demonstrates good performance in many real-life situations. |
| first_indexed | 2024-04-13T09:13:25Z |
| format | Article |
| id | doaj.art-6c90e87c5c8a4295ac97add76e45db0f |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T09:13:25Z |
| publishDate | 2014-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-6c90e87c5c8a4295ac97add76e45db0f2022-12-22T02:52:49ZengMDPI AGSensors1424-82202014-10-011411204002041810.3390/s141120400s141120400Robust Object Segmentation Using a Multi-Layer Laser ScannerBeomseong Kim0Baehoon Choi1Minkyun Yoo2Hyunju Kim3Euntai Kim4Electrical and Electronic Engineering Department, Yonsei University, Seoul 120-749, KoreaElectrical and Electronic Engineering Department, Yonsei University, Seoul 120-749, KoreaAdvanced Driver Assistance System Recognition Development Team, Hyundai Motors, Gyeonggi 445-706, KoreaAdvanced Driver Assistance System Recognition Development Team, Hyundai Motors, Gyeonggi 445-706, KoreaElectrical and Electronic Engineering Department, Yonsei University, Seoul 120-749, KoreaThe major problem in an advanced driver assistance system (ADAS) is the proper use of sensor measurements and recognition of the surrounding environment. To this end, there are several types of sensors to consider, one of which is the laser scanner. In this paper, we propose a method to segment the measurement of the surrounding environment as obtained by a multi-layer laser scanner. In the segmentation, a full set of measurements is decomposed into several segments, each representing a single object. Sometimes a ghost is detected due to the ground or fog, and the ghost has to be eliminated to ensure the stability of the system. The proposed method is implemented on a real vehicle, and its performance is tested in a real-world environment. The experiments show that the proposed method demonstrates good performance in many real-life situations.http://www.mdpi.com/1424-8220/14/11/20400laser scannerobstacle detectionsegmentationadvanced driver assistance system (ADAS) |
| spellingShingle | Beomseong Kim Baehoon Choi Minkyun Yoo Hyunju Kim Euntai Kim Robust Object Segmentation Using a Multi-Layer Laser Scanner Sensors laser scanner obstacle detection segmentation advanced driver assistance system (ADAS) |
| title | Robust Object Segmentation Using a Multi-Layer Laser Scanner |
| title_full | Robust Object Segmentation Using a Multi-Layer Laser Scanner |
| title_fullStr | Robust Object Segmentation Using a Multi-Layer Laser Scanner |
| title_full_unstemmed | Robust Object Segmentation Using a Multi-Layer Laser Scanner |
| title_short | Robust Object Segmentation Using a Multi-Layer Laser Scanner |
| title_sort | robust object segmentation using a multi layer laser scanner |
| topic | laser scanner obstacle detection segmentation advanced driver assistance system (ADAS) |
| url | http://www.mdpi.com/1424-8220/14/11/20400 |
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