利用激光3 D成像技术对特殊道路边界探测方法研究

利用激光雷达传感器获得的三维距离信息,依据了道路边界的结构特点,分别采用了CS中值滤波和形态学滤波进行去噪,并利用距离图像中目标与周围环境梯度差异性,将目标从背景中分割出来。同时,利用定位的结果和三维距离信息,获取了目标的高度信息,以及与本车的纵向和横向位置信息,为安全避障提供了依据。通过实验验证,该方法具有较强的鲁棒性和较高的探测准确性。

A Study on Curb Detection Method Based on 3D Image Formation Technique Using Laser Radar

This paper presents a method to detect the curb on city road based on 3D range information,taken by laser radar.The CS median filter is used to suppress noises.Then,the 3D information of curb is obtained based on the height difference between curb and road surface.After that,edge operation and mathematical morphology filter are used to extract curb information from the whole image.In this way,the relative position between the curb and the host vehicle can be acquired,which is important to driving-assistance.Experimental results show that the approach has high robustness and accuracy.