Abstract:Stable, real-time, drivable area planning in a dynamic environment is an essential feature of autonomous vehicles. This paper presents an efficient 3D laser radar-based drivable area planning algorithm. In order to extract the drivable area, the original point cloud data is first downsampled to obtain a relatively sparse point cloud to reduce the complexity. Then, based on the geometric features of the pavement point and dividing the road plane, the obstacle point after the road plane is divided. The cloud is … Show more
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