Computer Science ›› 2018, Vol. 45 ›› Issue (9): 294-298.doi: 10.11896/j.issn.1002-137X.2018.09.049

• Graphics, Image & Pattern Recognition • Previous Articles     Next Articles

Real-time Road Edge Extraction Algorithm Based on 3D-Lidar

LI Guang-jing1, BAO Hong1, XU Cheng1,2   

  1. Beijing Key Laboratory of Information Service Engineering,Beijing Union University,Beijing 100101,China1
    Information Network Center,Beijing University of Posts and Telecommunications,Beijing 100876,China2
  • Received:2017-08-14 Online:2018-09-20 Published:2018-10-10

Abstract: A real-time road edge extraction algorithm based on 3D-lidar was put forward for the environmental perception of driverless cars.In this algorithm,the height feature points and the smooth feature points are extracted separately in the maps rasterized and layered from the lidar points cloud followed by the constraint of the road width to obtain the candidate edge points.Then the candidate points are polynomial fitted by the algorithm of random sample consensus(RANSAC).Finally,Kalman filter is used to predict and track the road edge.The experimental results show that the proposed algorithm can extract the edge of road in real time and robustly in both park and urban roads.What’s more,this algorithm has been applied successfully in 2017 World Intelligent Driving Challenge.

Key words: 3D-Lidar, Driverless car, Kalman filter, Random sample consensus, Road edge extraction

CLC Number: 

  • TP242
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