ETRI Journal

  • 제37권3호
  • /
  • Pages.606-616
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  • 2015
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  • 1225-6463(pISSN)
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  • 2233-7326(eISSN)
한국전자통신연구원 (Electronics and Telecommunications Research Institute)
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Toward Accurate Road Detection in Challenging Environments Using 3D Point Clouds

  • Byun, Jaemin (IT Convergence Technology Research Laboratory, ETRI) ;
  • Seo, Beom-Su (IT Convergence Technology Research Laboratory, ETRI) ;
  • Lee, Jihong (Department of Mechatronics Engineering, Chungnam National University)
  • 투고 : 2013.11.10
  • 심사 : 2015.03.19
  • 발행 : 2015.05.01
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초록

In this paper, we propose a novel method for road recognition using 3D point clouds based on a Markov random field (MRF) framework in unstructured and complex road environments. The proposed method is focused on finding a solution for an analysis of traversable regions in challenging environments without considering an assumption that has been applied in many past studies; that is, that the surface of a road is ideally flat. The main contributions of this research are as follows: (a) guidelines for the best selection of the gradient value, the average height, the normal vectors, and the intensity value and (b) how to mathematically transform a road recognition problem into a classification problem that is based on MRF modeling in spatial and visual contexts. In our experiments, we used numerous scans acquired by an HDL-64E sensor mounted on an experimental vehicle. The results show that the proposed method is more robust and reliable than a conventional approach based on a quantity evaluation with ground truth data for a variety of challenging environments.

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참고문헌

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