Fig. 1. Schematic of ground points in different scenes. (a) Schematic of slope ground point determination; (b) schematic of non-ground point judgment

Fig. 2. Schematic of 3D LiDAR scanning. (a) Side view of 3D LiDAR scanning; (b) front view of 3D LiDAR scanning

Fig. 3. Flowchart of obstacle detection

Fig. 4. Selection of representative points

Fig. 5. ROI data extraction and ground segmentation results. (a) Lane line detection; (b) ROI extraction; (c) ground segmentation

Fig. 6. Multi-distance and multi-obstacle plane scene detection experiment. (a) Data acquisition scenarios; (b) effect of traditional DBSCAN algorithm; (c) effect of algorithm in Ref. [9]; (d) effect of proposed algorithm

Fig. 7. Multi-distance and multi-obstacle slope scene detection experiment. (a) Data acquisition scenarios; (b) effect of traditional DBSCAN algorithm; (c) effect of algorithm in Ref. [9]; (d) effect of proposed algorithm