Knowledge Commons of Institute of Automation,CAS
Berm Detection for Autonomous truck in Surface Mine Dump Area | |
Dejiang Meng1; Bin Tian2![]() ![]() | |
2021-09-19 | |
会议名称 | IEEE International Conference on Intelligent Transportation Systems |
会议日期 | 2021.09.19 |
会议地点 | Indianapolis, USA |
摘要 | To ensure an autonomous truck can operate safely in a dump area, it is crucial to detect a berm accurately in advance. However, there are two challenges. First, the berm is not a static terrain but a movable one because of soil dumping. Second, berms are often irregular in shape-they are neither straight lines nor smooth curves. We considered two types of possible existing methods, but only to find they are not accurate and can’t provide height information. Therefore, this paper proposes a berm detection algorithm, which includes three steps. First, extract berm candidate 3D LiDAR points based on a 2D height difference grid map. Second, use a binary Bayes filter to build and update 3D dynamic probability grid maps. Last, use a fitting rectangle technique to recognize the berm. We call this algorithm a Probability Grid Berm Detection (PGBD) algorithm. Off-line experimental evaluations on PGBD carried on datasets show good performance, compared with two curb detection algorithms, which are Hough Transformation and Haar Wavelet Transformation. And the good performance of the PGBD algorithm is further verified in the real-time experiment. |
语种 | 英语 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 先进智能应用与转化 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/51660 |
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 | Bin Tian |
作者单位 | 1.北京慧拓无限科技有限公司 2.中国科学院自动化研究所 3.滑铁卢大学 4.中山大学 |
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 | Dejiang Meng,Bin Tian,Ziyu Pan,et al. Berm Detection for Autonomous truck in Surface Mine Dump Area[C],2021. |
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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 | ||
Berm Detection for A(617KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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