计算机应用与软件2017，Vol.34Issue(10)：219-222,4.DOI:10.3969/j.issn.1000-386x.2017.10.038
基于3D激光雷达道路边缘实时检测算法的研究与实现
RESEARCH AND IMPLEMENTATION OF REAL-TIME ROAD EDGE DETECTION ALGORITHM BASED ON 3D LIDAR
摘要
Abstract
Aiming at the road edge detection problem of unmanned vehicle in natural environment,this paper proposes a real-time road edge detection algorithm based on 3 D lidar.The point cloud data of lidar are meshed to get the height difference of each grid,and the threshold is processed according to the height characteristic of the road edge.Then one by one from the near to the far to extract the left and right road edge,and we use the least square method to curve fitting the left and right road edge mesh,and get the right and left edge of the road.The experimental results show that the algorithm has high reliability and stability,and can finish the road edge detection accurately.It can meet the requirements of real-time system.关键词
无人驾驶/激光雷达/道路边缘/最小二乘法Key words
Unmanned driving/Lidar Road edge/Least square method分类
信息技术与安全科学引用本文复制引用
李强,杜煜..基于3D激光雷达道路边缘实时检测算法的研究与实现[J].计算机应用与软件,2017,34(10):219-222,4.基金项目
国家自然科学基金重大研究计划项目(91420202). （91420202）
