Fig. 1. Division diagram of XOY plane

Fig. 2. Division diagram of sector region

Fig. 3. Scan diagram of 3D lidar

Fig. 4. Flow chart of obstacle detection

Fig. 5. Extraction process of ROI. (a) Road-boundary detection; (b) data extraction of ROI

Fig. 6. Separation between ground points and non-ground points. (a) Ground points; (b) non-ground points

Fig. 7. Experiment of multi-target obstacle detection. (a) Data collection scene; (b) effect diagram of traditional algorithm; (c) effect diagram of improved algorithm