Road edge detection method based on three-dimensional laser radar

A three-dimensional laser and detection method technology, which is applied in the field of traffic road environment perception in smart car technology, can solve the problems of low detection accuracy and achieve the effects of high accuracy, small detection error, and large amount of data

Pending Publication Date: 2019-05-10
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, this method only considers gradient feature extraction roadside candidate points, and its detection accuracy is not high

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  • Road edge detection method based on three-dimensional laser radar
  • Road edge detection method based on three-dimensional laser radar
  • Road edge detection method based on three-dimensional laser radar

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Embodiment Construction

[0039] In order to express the purpose, technical solutions and advantages of the present invention more clearly, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation cases.

[0040] As an optional method, this embodiment selects Velodyne 16 line lidar as the sensor to implement a road edge detection method based on 3D lidar. The experimental scene is as follows figure 2 shown, the specific steps are:

[0041] S1. Scan the road environment through the 3D lidar, obtain the original point cloud data, and establish a 3D coordinate system of the detected vehicle with the 3D lidar as the origin.

[0042] The road environment is scanned by the 3D lidar to obtain the original point cloud data of the object. The points reflected from the surface of the object scanned by the laser emitted by the lidar include the 3D coordinates of the object, reflection intensity, scanning layer, distance, azimuth, etc....

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Abstract

The invention belongs to the field of traffic road environment sensing in the intelligent automobile technology, and relates to a road edge detection method based on three-dimensional laser radar, comprising the following steps: acquiring point cloud data of the surrounding road environment by using the three-dimensional laser radar installed on the vehicle, adopting a random sampling consistencyalgorithm to segment the ground; setting a wider threshold according to various geometric features of the road edge for judgment, and extracting the candidate points of the road edge by using the neighborhood relationship between the respective scanning points of the same scanning layer; clustering the candidate points of the road edge and removing the dense and isolated noise points by using a density-based clustering algorithm according to the continuous feature about density and rod direction of the data points of the road edge; and finally fitting the qualified candidate points of the roadedge by weighted least squares to improve the fitting accuracy. The method extracts candidate points of the road edge according to the plurality of features of the road edge, and comprehensively considers the continuous feature of the road edge in the density and the road direction to de-noise, so that the final detection error is small and the precision is high.

Description

technical field [0001] The invention belongs to the field of traffic road environment perception in smart car technology, and relates to a roadside detection method based on a three-dimensional laser radar. Background technique [0002] With the sustained and rapid development of my country's economy and the continuous progress of society, people's living standards have improved significantly, my country's automobile industry has developed rapidly, and automobiles have become an indispensable means of transportation for people's daily life, but the rapid development of the automobile industry has also brought important issues such as traffic safety. In order to solve this kind of problem, the automobile intelligent assisted driving system came into being. Automobile intelligent assisted driving system means that the on-board computer detects the surrounding traffic environment information through the road environment perception system, and after processing, it provides drivi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/93
Inventor 许国良常亮亮李万林王茜竹雒江涛
Owner CHONGQING UNIV OF POSTS & TELECOMM
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