3D Laser Based Obstacle Detection for Autonomous Driving
نویسندگان
چکیده
In urban environments, the vehicle encounters a wide variety of static and moving obstacles. Obstacles as small as a curb may trip a fast-moving vehicle, so detecting small objects is of great importance. Overhangs and trees may look large obstacles at a distance, but traveling underneath is often possible. Thus, obstacle detection must consider the 3D geometry of the world. Figure 1 depicts a typical output of the obstacle detection routine in an urban environment. Each red object corresponds to an obstacle. Towards the bottom right, a camera image is shown for reference.
منابع مشابه
Robust Obstacle Detection Based on Dense Disparity Maps
Obstacle detection is an important component for many autonomous vehicle navigation systems. Several methods for obstacle detection have been proposed using various active sensors such as radar, sonar and laser range finders. Vision based techniques have the advantage of low cost and provide a large amount of information about the environment around an intelligent vehicle. This paper deals with...
متن کاملSmall Object Detection Based on Stereo Vision*
Sensing the environment around the host vehicle is an essential task of autonomous driving systems and advanced driver assistance systems. Detecting small objects on road is one of the environment sensing tasks which LIDAR has some fundamental difficulties to handle. For example, assume a typical LIDAR, Velodyne HDL-32E, installed on the top of a vehicle with 2.4 meter high. According to the sp...
متن کامل3D Obstacle Avoidance in Adversarial Environments for Unmanned Aerial Vehicles
As unmanned aerial vehicles (UAVs) are considered for a wider variety of military and commercial applications, the ability to navigate autonomously in unknown and hazardous environments is increasingly vital to the effectiveness of UAVs. Reliable and efficient obstacle detection is a fundamental prerequisite to performing autonomous navigation in an unknown environment. Traditional two-dimensio...
متن کاملAttention-driven monocular scene reconstruction for obstacle detection, robot navigation and map building
In this paper,we present a feature-based approach formonocular scene reconstruction based on Extended Kalman Filters (EKF). Our method processes a sequence of images taken by a single camera mounted frontally on a mobile robot. Using a combination of various techniques, we are able to produce a precise reconstruction that is free from outliers and can therefore be used for reliable obstacle det...
متن کاملLaser Intensity-Based Obstacle Detection and Tracking
One of the major challenges in designing intelligent vehicles capable of autonomous travel on highways is reliable obstacle detection. Highways present an unknown and dynamic environment with real-time constraints. In addition, the high speeds of travel force a system to detect objects at long ranges. Because of its necessity for mobile robot platforms and intelligent vehicles, there has been a...
متن کامل