Knowledge Commons of Institute of Automation,CAS
Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck | |
Lu, Xiaowei1,2; Ai, Yunfeng1; Tian, Bin3![]() | |
发表期刊 | SENSORS
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2020-02 | |
卷号 | 20期号:4页码:1121 |
摘要 | Road boundary detection is an important part of the perception of the autonomous driving. It is difficult to detect road boundaries of unstructured roads because there are no curbs. There are no clear boundaries on mine roads to distinguish areas within the road boundary line and areas outside the road boundary line. This paper proposes a real-time road boundary detection and tracking method by a 3D-LIDAR sensor. The road boundary points are extracted from the detected elevated point clouds above the ground point cloud according to the spatial distance characteristics and the angular features. Road tracking is to predict and update the boundary point information in real-time, in order to prevent false and missed detection. The experimental verification of mine road data shows the accuracy and robustness of the proposed algorithm. |
关键词 | unstructured road road boundary detection automatic truck mine scene |
DOI | 10.3390/s20041121 |
关键词[WOS] | EXTRACTION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61503380] ; National Natural Science Foundation of China[61773381] |
项目资助者 | National Natural Science Foundation of China |
WOS研究方向 | Chemistry ; Engineering ; Instruments & Instrumentation |
WOS类目 | Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
WOS记录号 | WOS:000522448600172 |
出版者 | MDPI |
七大方向——子方向分类 | 目标检测、跟踪与识别 |
国重实验室规划方向分类 | 环境多维感知 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/38750 |
专题 | 多模态人工智能系统全国重点实验室_平行智能技术与系统团队 |
通讯作者 | Tian, Bin |
作者单位 | 1.Waytous Inc, Beijing 100083, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100190, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Lu, Xiaowei,Ai, Yunfeng,Tian, Bin. Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck[J]. SENSORS,2020,20(4):1121. |
APA | Lu, Xiaowei,Ai, Yunfeng,&Tian, Bin.(2020).Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck.SENSORS,20(4),1121. |
MLA | Lu, Xiaowei,et al."Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck".SENSORS 20.4(2020):1121. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Real-Time_Mine_Road_(10071KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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