Curb detection and tracking using 3D-LIDAR scanner
This paper presents a novel road curb detection method using 3D-LIDAR scanner. To detect the curbs, the ground points are separated from the pointcloud first. Then the candidate curb points are selected using three spatial cues: the elevation difference, gradient value and normal orientation. Afterw...
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sg-ntu-dr.10356-995702020-03-07T13:24:49Z Curb detection and tracking using 3D-LIDAR scanner Zhao, Gangqiang Yuan, Junsong School of Electrical and Electronic Engineering IEEE International Conference on Image Processing (19th : 2012 : Orlando, Florida, US) This paper presents a novel road curb detection method using 3D-LIDAR scanner. To detect the curbs, the ground points are separated from the pointcloud first. Then the candidate curb points are selected using three spatial cues: the elevation difference, gradient value and normal orientation. Afterwards the false curb points caused by obstacles are removed using the short-term memory technique. Next the curbs are fitted using the parabola model. Finally, the particle filter is used to smooth the curb detection result. The proposed approach was evaluated on a dataset collected by an autonomous ground vehicle driving around the Ford Research campus and downtown Dearborn. Our curb detection results are accurate and robust despite variations introduced by moving vehicles and pedestrians, static obstacles, road curvature changes, etc. Accepted version 2013-08-02T06:32:22Z 2019-12-06T20:09:04Z 2013-08-02T06:32:22Z 2019-12-06T20:09:04Z 2012 2012 Conference Paper Zhao, G., & Yuan, J. (2012). Curb detection and tracking using 3D-LIDAR scanner. 19th IEEE International Conference on Image Processing (ICIP 2012), 437-440 https://hdl.handle.net/10356/99570 http://hdl.handle.net/10220/12917 10.1109/ICIP.2012.6466890 en © 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [http://dx.doi.org/10.1109/ICIP.2012.6466890]. application/pdf |
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This paper presents a novel road curb detection method using 3D-LIDAR scanner. To detect the curbs, the ground points are separated from the pointcloud first. Then the candidate curb points are selected using three spatial cues: the elevation difference, gradient value and normal orientation. Afterwards the false curb points caused by obstacles are removed using the short-term memory technique. Next the curbs are fitted using the parabola model. Finally, the particle filter is used to smooth the curb detection result. The proposed approach was evaluated on a dataset collected by an autonomous ground vehicle driving around the Ford Research campus and downtown Dearborn. Our curb detection results are accurate and robust despite variations introduced by moving vehicles and pedestrians, static obstacles, road curvature changes, etc. |
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School of Electrical and Electronic Engineering |
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School of Electrical and Electronic Engineering Zhao, Gangqiang Yuan, Junsong |
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Conference or Workshop Item |
author |
Zhao, Gangqiang Yuan, Junsong |
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Zhao, Gangqiang Yuan, Junsong Curb detection and tracking using 3D-LIDAR scanner |
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Zhao, Gangqiang |
title |
Curb detection and tracking using 3D-LIDAR scanner |
title_short |
Curb detection and tracking using 3D-LIDAR scanner |
title_full |
Curb detection and tracking using 3D-LIDAR scanner |
title_fullStr |
Curb detection and tracking using 3D-LIDAR scanner |
title_full_unstemmed |
Curb detection and tracking using 3D-LIDAR scanner |
title_sort |
curb detection and tracking using 3d-lidar scanner |
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2013 |
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https://hdl.handle.net/10356/99570 http://hdl.handle.net/10220/12917 |
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