CURB DETECTION USING LIDAR WITH SPARSE MEASUREMENTS

摘要

A method of detecting curb-like barriers along a route of travel using a lidar sensing system. Sparse measurement per each ray tracing is captured from a sensor using the lidar sensing system. Each ray tracing is analyzed separately by a processor. Curb candidates are identified for each respective beam. Curb candidates are combined to generate multiple curb representative hypotheses. A weighting factor is applied to each curb hypothesis. Curb hypothesis that represents the curb is selected. The curb detection is applied to an autonomous guidance system related to guiding a vehicle along the route of travel.

主权项

1. A method of detecting boundary barriers along a route of travel using a lidar sensing system, the method comprising the steps of:
capturing sparse measurement ray tracing from a sensor using the lidar sensing system; analyzing each ray tracing separately by a processor; identifying curb candidates per each respective ray tracing; combining curb candidates to generate multiple curb representative hypotheses; applying a weighting factor to each curb hypothesis; selecting curb hypothesis representing the curb; and applying the curb detection to a autonomous guidance system related to guiding a vehicle along the route of travel.