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Laser & Optoelectronics Progress, Volume. 58, Issue 4, 0428001-1(2021)

Lidar Ground Segmentation Method Based on Point Cloud Cluster Combination Feature

Jingtao Shao1,2,3, Changqing Du1,2,3、*, and Bin Zou1,2,3
Author Affiliations
  • 1Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan, Hubei 430070, China
  • 2Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan, Hubei 430070, China
  • 3Hubei Research Center for New Energy & Intelligent Connected Vehicle, Wuhan University of Technology, Wuhan, Hubei 430070, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (10)
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    References (15)
    Cited By (7)
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    Figures & Tables(10)
    Flowchart of proposed method

    Fig. 1. Flowchart of proposed method

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    Schematic of fan grid

    Fig. 2. Schematic of fan grid

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    Schematic of eigenvalue analysis. (a) λmax>λmiddle≈λmin; (b) λmax≈λmiddle>λmin; (c) λmax≈λmiddle≈λmin

    Fig. 3. Schematic of eigenvalue analysis. (a) λmax>λmiddle≈λmin; (b) λmax≈λmiddle>λmin; (c) λmax≈λmiddle≈λmin

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    Schematic of gradient inspection process in radial direction

    Fig. 4. Schematic of gradient inspection process in radial direction

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    New start grid determination method

    Fig. 5. New start grid determination method

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    Smoothing process

    Fig. 6. Smoothing process

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    Test results of simple rough road surface under different methods. (a) Ref. [13]; (b) Ref. [9]; (c) proposed method

    Fig. 7. Test results of simple rough road surface under different methods. (a) Ref. [13]; (b) Ref. [9]; (c) proposed method

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    Test results of slope pavement under different methods. (a) Ref. [13]; (b) Ref. [16]; (c) proposed method

    Fig. 8. Test results of slope pavement under different methods. (a) Ref. [13]; (b) Ref. [16]; (c) proposed method

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    The test results of multi-obstacle pavement under different methods. (a) Ref. [13]; (b) Ref. [16]; (c) proposed method

    Fig. 9. The test results of multi-obstacle pavement under different methods. (a) Ref. [13]; (b) Ref. [16]; (c) proposed method

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    • Table 1. Ground segmentation effect of each method in different scenes

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      Table 1. Ground segmentation effect of each method in different scenes

      SceneMethodTPR /%FPR /%Consuming time /ms
      Simple rough roadProposed method99.930.0125
      Ref.[13]95.210.4930
      Ref.[9]90.205.8226
      Complex slope roadProposed method98.700.5327
      Ref.[16]96.832.1732
      Ref.[13]87.646.5930
      Multiple obstacle roadProposed method97.500.7227
      Ref.[16]93.103.2431
      Ref.[13]90.838.5731
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    Jingtao Shao, Changqing Du, Bin Zou. Lidar Ground Segmentation Method Based on Point Cloud Cluster Combination Feature[J]. Laser & Optoelectronics Progress, 2021, 58(4): 0428001-1

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    Paper Information

    Category: Remote Sensing and Sensors

    Received: Jun. 6, 2020

    Accepted: Aug. 3, 2020

    Published Online: Mar. 19, 2021

    The Author Email: Du Changqing (cq_du@whut.edu.cn)

    DOI:10.3788/LOP202158.0428001

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology