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Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck

文献类型：期刊论文

作者Lu, Xiaowei1,2; Ai, Yunfeng2; Tian, Bin3
刊名SENSORS
出版日期2020-02-01
卷号20期号:4页码:19
关键词unstructured road road boundary detection automatic truck mine scene
DOI10.3390/s20041121
通讯作者Tian, Bin(bin.tian@ia.ac.cn)
英文摘要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.
WOS关键词EXTRACTION
资助项目National Natural Science Foundation of China[61503380] ; National Natural Science Foundation of China[61773381]
WOS研究方向Chemistry ; Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000522448600172
出版者MDPI
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/38749]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队
通讯作者Tian, Bin
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100190, Peoples R China
2.Waytous Inc, Beijing 100083, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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):19.
APA Lu, Xiaowei,Ai, Yunfeng,&Tian, Bin.(2020).Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck.SENSORS,20(4),19.
MLA Lu, Xiaowei,et al."Real-Time Mine Road Boundary Detection and Tracking for Autonomous Truck".SENSORS 20.4(2020):19.

入库方式： OAI收割

来源：自动化研究所

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