Curb Detection and Compensation Method for Autonomous Driving via a 3-D-LiDAR Sensor

Guo, Dongbing; Qi, Baoling; Wang, Chunhui

doi:10.1109/jsen.2022.3198861

Cited by 9 publications

(1 citation statement)

References 46 publications

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“…Following general practice, off-road points were identified and extracted from the ground point cloud data, and the remaining points were subsequently categorized into two groups: road and curb. Notably, curb points play an important role in defining the safe driving area of vehicles and delineating the boundary between road and off-road points [ 50 ].…”

Section: Methodsmentioning

confidence: 99%

3D Road Boundary Extraction Based on Machine Learning Strategy Using LiDAR and Image-Derived MMS Point Clouds

Suleymanoglu,

Soycan,

Toth

2024

Sensors

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The precise extraction of road boundaries is an essential task to obtain road infrastructure data that can support various applications, such as maintenance, autonomous driving, vehicle navigation, and the generation of high-definition maps (HD map). Despite promising outcomes in prior studies, challenges persist in road extraction, particularly in discerning diverse road types. The proposed methodology integrates state-of-the-art techniques like DBSCAN and RANSAC, aiming to establish a universally applicable approach for diverse mobile mapping systems. This effort represents a pioneering step in extracting road information from image-based point cloud data. To assess the efficacy of the proposed method, we conducted experiments using a large-scale dataset acquired by two mobile mapping systems on the Yıldız Technical University campus; one system was configured as a mobile LiDAR system (MLS), while the other was equipped with cameras to operate as a photogrammetry-based mobile mapping system (MMS). Using manually measured reference road boundary data, we evaluated the completeness, correctness, and quality parameters of the road extraction performance of our proposed method based on two datasets. The completeness rates were 93.2% and 84.5%, while the correctness rates were 98.6% and 93.6%, respectively. The overall quality of the road curb extraction was 93.9% and 84.5% for the two datasets. Our proposed algorithm is capable of accurately extracting straight or curved road boundaries and curbs from complex point cloud data that includes vehicles, pedestrians, and other obstacles in urban environment. Furthermore, our experiments demonstrate that the algorithm can be applied to point cloud data acquired from different systems, such as MLS and MMS, with varying spatial resolutions and accuracy levels.

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Section: Methodsmentioning

confidence: 99%