计算机科学 ›› 2018, Vol. 45 ›› Issue (9): 294-298.doi: 10.11896/j.issn.1002-137X.2018.09.049
李广敬1, 鲍泓1, 徐成1,2
LI Guang-jing1, BAO Hong1, XU Cheng1,2
摘要: 无人驾驶车辆在道路中行驶时需要判定当前环境中的可行驶区域,针对这一问题,提出一种基于3D激光雷达的道路边缘实时提取算法。该算法首先在栅格化和分层处理后的激光雷达点云图中分别提取高度特征和平滑特征,以进一步通过道路宽度约束筛选得到候选边缘点,然后利用随机抽样一致性算法(RANSAC)对两侧路沿点进行多项式拟合,最后通过卡尔曼滤波对边缘点进行预测、跟踪。实验结果表明,该算法在园区场景和城市开放道路上都能实时、稳定地提取道路边缘,且此算法在“2017年世界智能驾驶挑战赛”中得到了成功应用。
中图分类号:
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