A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data
Curb detection is an important research topic in environment perception, which is an essential part of unmanned ground vehicle (UGV) operations. In this paper, a new curb detection method using a 2D laser range finder in a semi-structured environment is presented. In the proposed method, firstly, a...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2013-01-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/13/1/1102 |
| _version_ | 1818013328806510592 |
|---|---|
| author | Jinling Wang Daxue Liu Zhao Liu |
| author_facet | Jinling Wang Daxue Liu Zhao Liu |
| author_sort | Jinling Wang |
| collection | DOAJ |
| description | Curb detection is an important research topic in environment perception, which is an essential part of unmanned ground vehicle (UGV) operations. In this paper, a new curb detection method using a 2D laser range finder in a semi-structured environment is presented. In the proposed method, firstly, a local Digital Elevation Map (DEM) is built using 2D sequential laser rangefinder data and vehicle state data in a dynamic environment and a probabilistic moving object deletion approach is proposed to cope with the effect of moving objects. Secondly, the curb candidate points are extracted based on the moving direction of the vehicle in the local DEM. Finally, the straight and curved curbs are detected by the Hough transform and the multi-model RANSAC algorithm, respectively. The proposed method can detect the curbs robustly in both static and typical dynamic environments. The proposed method has been verified in real vehicle experiments. |
| first_indexed | 2024-04-14T06:31:47Z |
| format | Article |
| id | doaj.art-8fdb1560bab149cd8650405611560ec8 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T06:31:47Z |
| publishDate | 2013-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-8fdb1560bab149cd8650405611560ec82022-12-22T02:07:35ZengMDPI AGSensors1424-82202013-01-011311102112010.3390/s130101102A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser DataJinling WangDaxue LiuZhao LiuCurb detection is an important research topic in environment perception, which is an essential part of unmanned ground vehicle (UGV) operations. In this paper, a new curb detection method using a 2D laser range finder in a semi-structured environment is presented. In the proposed method, firstly, a local Digital Elevation Map (DEM) is built using 2D sequential laser rangefinder data and vehicle state data in a dynamic environment and a probabilistic moving object deletion approach is proposed to cope with the effect of moving objects. Secondly, the curb candidate points are extracted based on the moving direction of the vehicle in the local DEM. Finally, the straight and curved curbs are detected by the Hough transform and the multi-model RANSAC algorithm, respectively. The proposed method can detect the curbs robustly in both static and typical dynamic environments. The proposed method has been verified in real vehicle experiments.http://www.mdpi.com/1424-8220/13/1/1102curb detectionlaser range findermappingdynamic environment |
| spellingShingle | Jinling Wang Daxue Liu Zhao Liu A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data Sensors curb detection laser range finder mapping dynamic environment |
| title | A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data |
| title_full | A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data |
| title_fullStr | A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data |
| title_full_unstemmed | A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data |
| title_short | A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data |
| title_sort | new curb detection method for unmanned ground vehicles using 2d sequential laser data |
| topic | curb detection laser range finder mapping dynamic environment |
| url | http://www.mdpi.com/1424-8220/13/1/1102 |
| work_keys_str_mv | AT jinlingwang anewcurbdetectionmethodforunmannedgroundvehiclesusing2dsequentiallaserdata AT daxueliu anewcurbdetectionmethodforunmannedgroundvehiclesusing2dsequentiallaserdata AT zhaoliu anewcurbdetectionmethodforunmannedgroundvehiclesusing2dsequentiallaserdata AT jinlingwang newcurbdetectionmethodforunmannedgroundvehiclesusing2dsequentiallaserdata AT daxueliu newcurbdetectionmethodforunmannedgroundvehiclesusing2dsequentiallaserdata AT zhaoliu newcurbdetectionmethodforunmannedgroundvehiclesusing2dsequentiallaserdata |