A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data

Sensors

Zhao Liu¹  Jinling Wang² 

[1]College of Mechatronics & Automation, National University of Defense Technology, Changsha 410073, Hunan, China

[2] E-Mail:

[3]School of Surveying and Geospatial Engineering, the University of New South Wales, Sydney 2052, Australia

[4] E-Mail:

关键词: curb detection;    laser range finder;    mapping;    dynamic environment;   

DOI  :  10.3390/s130101102

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.