Real-time road boundary extraction from vehicle-mounted LiDAR data integrating scanning lines and grid projection
Scanning line and grid projection map are combined in this paper to extract road boundaries from real-time vehicle-mounted LiDAR point cloud data.Firstly,scanning line is separated periodically based on azimuth.Secondly,the single-beam point cloud spatial neighborhood joint segmentation filter is used to separate the pavement points,and the non-pavement points are retained to establish the obstacle map.Thirdly,the search method in both directions of the search grid is used to add the elevation range and road width constraints for road boundary extraction.Finally,boundary fitting is performed by polyno-mial curve fitting algorithm,and two sets of typical KITTI suburban road data are used to test.The results show that the proposed method can be used to effectively extract road boundaries,it can get good application effect,and the average accuracy can be more than 80%.
scanning linegrid projectionsearch gridpoint cloud of curb