吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (2): 360-365.doi: 10.13229/j.cnki.jdxbgxb201602005

• Orginal Article • Previous Articles     Next Articles

-Obstacle detection based on 3D laser scanner and range image for intelligent vehicle

WANG Xin-zhu1, LI Jun1, 2, LI Hong-jian2, SHANG Bing-xu2   

  1. 1.College of Automotive Engineering, Jilin University, Changchun 130022,China;
    2.China FAW Group Corporation R&D Center, Changchun 130021, China
  • Received:2014-09-22 Online:2016-02-20 Published:2016-02-20

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Abstract:

An obstacle detection method based on 3D laser scanner and range image is proposed for intelligent vehicle. First, the range image of one scan is established based on the Welodyne HDL-32E laser scanner data. Then, according to the range image analysis, the point cloud in one row of the image is classified into several groups. Finally, the point clouds in different groups are detected by a linear model in column. Simulation reveals that using the proposed method, the rate of false detection caused by the obstacle lock is reduced, and this method well adapts to the terrain change.

Key words: vehicle engineering, 3D point clouds, obstacle detection, environmented perception

CLC Number: 

  • U461
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