Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection

doi:10.1109/JAS.2020.1003414

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection
	Guojun Wang; Jian Wu; Rui He; Bin Tian
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2021
卷号	8 期号:6 页码:1210-1220
摘要	Road boundary detection is essential for autonomous vehicle localization and decision-making, especially under GPS signal loss and lane discontinuities. For road boundary detection in structural environments, obstacle occlusions and large road curvature are two significant challenges. However, an effective and fast solution for these problems has remained elusive. To solve these problems, a speed and accuracy tradeoff method for LiDAR-based road boundary detection in structured environments is proposed. The proposed method consists of three main stages: 1) a multi-feature based method is applied to extract feature points; 2) a road-segmentation-line-based method is proposed for classifying left and right feature points; 3) an iterative Gaussian Process Regression (GPR) is employed for filtering out false points and extracting boundary points. To demonstrate the effectiveness of the proposed method, KITTI datasets is used for comprehensive experiments, and the performance of our approach is tested under different road conditions. Comprehensive experiments show the road-segmentation-line-based method can classify left, and right feature points on structured curved roads, and the proposed iterative Gaussian Process Regression can extract road boundary points on varied road shapes and traffic conditions. Meanwhile, the proposed road boundary detection method can achieve real-time performance with an average of 70.5 ms per frame.
关键词	3D-LiDAR autonomous vehicle object detection point cloud road boundary
DOI	10.1109/JAS.2020.1003414
WOS记录号	WOS:000649584400010
引用统计	被引频次：28[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/44576
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Guojun Wang,Jian Wu,Rui He,et al. Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(6):1210-1220.
APA	Guojun Wang,Jian Wu,Rui He,&Bin Tian.(2021).Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection.IEEE/CAA Journal of Automatica Sinica,8(6),1210-1220.
MLA	Guojun Wang,et al."Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection".IEEE/CAA Journal of Automatica Sinica 8.6(2021):1210-1220.

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