控制理论与应用2024，Vol.41Issue(5)：847-854,8.DOI:10.7641/CTA.2023.20796
点云空间与反射强度融合的非结构化道路可行驶区域检测
Detection of drivable areas on unstructured roads fused with point cloud space and reflection intensity
摘要
Abstract
Drivable area detection aims to detect and extract areas where intelligent vehicles can travel on the road.The current mainstream detection method is mainly based on the spatial feature of three-dimensional light detection and ranging(3D-LIDAR),which is difficult to deal with unstructured roads without clear spatial features at the edge of the road surface.To this end,this paper proposes a drivable area detection method for unstructured roads based on the fusion of point cloud space and reflection intensity.First,the cylindrical coordinate system detection model based on the spatial features is im-proved by fusing reflection intensity factors;then,using intensity and dimensionality reduction space detection to optimize the ring detection model with low detection accuracy,and combining it with the cylindrical coordinate system detection model to improve the detection accuracy of the method;finally,a comparative experiment is carried out on the self-recorded actual road dataset.The experimental results show that the method in this paper significantly improves the success rate and accuracy of the drivable area detection on unstructured roads,and it also has good results on structured roads.关键词
智能驾驶/非结构化道路/三维激光雷达/反射强度/空间分布/区域检测Key words
intelligent driving/unstructured road/3D-LIDAR/reflection/spatial distribution/area detection引用本文复制引用
周越洋,徐江,钟珊,龚声蓉..点云空间与反射强度融合的非结构化道路可行驶区域检测[J].控制理论与应用,2024,41(5):847-854,8.基金项目
国家自然科学基金项目(61972059,42071438),江苏省自然科学基金项目(BK20191474,BK20191475,BK20161268)资助.Supported by the National Natural Science Foundation of China(61972059,42071438)and the Natural Science Foundation of Jiangsu Province(BK20191474,BK20191475,BK20161268). （61972059,42071438）
