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Chinese Journal of Lasers, Volume. 47, Issue 1, 0110002(2020)

Adaptive Grid Representation Method for Unmanned Surface Vehicle Obstacle Based on Three-Dimensional Lidar

Deqing Liu*, Jie Zhang, and Jiucai Jin*
Author Affiliations
  • First Institute of Oceanography, Ministry of Natural Resources, Qingdao, Shandong 266061, China
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    Figures&Tables (6)
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    References (16)
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    Figures & Tables(6)
    Flow chart of USV obstacle grid representation method based on three-dimensional lidar

    Fig. 1. Flow chart of USV obstacle grid representation method based on three-dimensional lidar

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    Experimental scenes of three-dimensional lidar obstacle detection on sea surface. (a) Scene I; (b) scene II; (c) scene III

    Fig. 2. Experimental scenes of three-dimensional lidar obstacle detection on sea surface. (a) Scene I; (b) scene II; (c) scene III

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    Lidar point clouds of three obstacle scenes. (a) Scene I; (b) scene II; (c) scene III

    Fig. 3. Lidar point clouds of three obstacle scenes. (a) Scene I; (b) scene II; (c) scene III

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    Preprocessing results of lidar point clouds of three obstacle scenes. (a) Scene I; (b) scene II; (c) scene III

    Fig. 4. Preprocessing results of lidar point clouds of three obstacle scenes. (a) Scene I; (b) scene II; (c) scene III

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    Adaptive grid representation results of three obstacle scenes. (a)(c)(e) Optimization results of grid map resolutions of scenes I, II, and III; (b)(d)(f) corresponding results of grid map obstacle representation

    Fig. 5. Adaptive grid representation results of three obstacle scenes. (a)(c)(e) Optimization results of grid map resolutions of scenes I, II, and III; (b)(d)(f) corresponding results of grid map obstacle representation

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    • Table 1. Comparison between obstacle adaptive grid representation method (method 1) and fixed grid representation method (method 2)

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      Table 1. Comparison between obstacle adaptive grid representation method (method 1) and fixed grid representation method (method 2)

      ParameterScene IScene IIScene III
      Method 1Method 2Method 1Method 2Method 1Method 2
      R=4 mR=4 mR=12 mR=6 mR=4 mR=12 mR=12 mR=4 mR=12 m
      I0.04540.04540.14290.01130.00700.05790.02480.00110.0248
      t0.02130.02130.00650.01000.02550.00690.00910.01930.0091
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    Deqing Liu, Jie Zhang, Jiucai Jin. Adaptive Grid Representation Method for Unmanned Surface Vehicle Obstacle Based on Three-Dimensional Lidar[J]. Chinese Journal of Lasers, 2020, 47(1): 0110002

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    Paper Information

    Category: remote sensing and sensor

    Received: Jul. 22, 2019

    Accepted: Sep. 26, 2019

    Published Online: Jan. 9, 2020

    The Author Email: Deqing Liu (liudeqing@fio.org.cn), Jiucai Jin (liudeqing@fio.org.cn)

    DOI:10.3788/CJL202047.0110002

    Topics

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