Road Curbs Detection Based on Laser Radar

Abstract

In order to provide road information for outdoor mobile robot in a complicated environment, a new road curbs extraction algorithm is proposed based on a four-layer laser radar LD_ML. According to the characteristic of road curbs that locates beside the road and presents nearly vertical relation with x-axis of the LD_ML, the algorithm includes three main steps: with the purpose of finding curbs exact position, initial curbs (beginning segments of curbs) are extracted in the range data firstly; in order to overcome the environment disturbance, then the entire curbs are obtained by using the initial curbs information and extent Kalman filter technology; in order to obtain the stable and precision road curbs information, curbs tracking method is performed at last. The experiment results testified the road curbs detection algorithm had high stability and reliability