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Laser & Optoelectronics Progress, Volume. 60, Issue 12, 1228008(2023)

Improved Angle Constraint Lidar Obstacle Detection Method

Chang Liu, Ming Ling*, Xing Wang, Shulong Zhai, and Qipeng Rao
Author Affiliations
  • School of Electronics and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
    Equations (8)
    References (15)
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    Paper Information
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    Figures & Tables(11)
    Point cloud and its corresponding depth map. (a) Point cloud data; (b) depth map

    Fig. 1. Point cloud and its corresponding depth map. (a) Point cloud data; (b) depth map

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    Schematic of RGF algorithm

    Fig. 2. Schematic of RGF algorithm

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    Ground point segmentation. (a) Point cloud data; (b) point cloud data after ground segmentation

    Fig. 3. Ground point segmentation. (a) Point cloud data; (b) point cloud data after ground segmentation

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    Schematic of algorithms. (a) Traditional angle constraint algorithm; (b) new breakpoint detector

    Fig. 4. Schematic of algorithms. (a) Traditional angle constraint algorithm; (b) new breakpoint detector

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    Diagram of graph structure

    Fig. 5. Diagram of graph structure

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    Flowchart of search merging

    Fig. 6. Flowchart of search merging

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    Experimental platform

    Fig. 7. Experimental platform

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    Running time consumption. (a) RS-LiDAR-16 dataset; (b) HDL-64 dataset

    Fig. 8. Running time consumption. (a) RS-LiDAR-16 dataset; (b) HDL-64 dataset

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    Obstacle detection results. (a) (b) HDL-64 data set; (c) (d) RS-LiDAR-16 dataset

    Fig. 9. Obstacle detection results. (a) (b) HDL-64 data set; (c) (d) RS-LiDAR-16 dataset

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    • Table 1. Comparison of different algorithms on HDL-64 dataset

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      Table 1. Comparison of different algorithms on HDL-64 dataset

      AlgorithmNumber of positive detection samplesNumber of error detection samplesPositive detection rate %Error detection rate /%
      Traditional angle constraint algorithm3057576.318.8
      Algorithm in Ref.［15］3541588.53.8
      Proposed approach3482687.06.5

    • Table 2. Comparison of different algorithms on RS-LiDAR-16 dataset

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      Table 2. Comparison of different algorithms on RS-LiDAR-16 dataset

      AlgorithmNumber of positive detection samplesNumber of error detection samplesPositivedetection rate /%Errordetection rate /%
      Traditional angle constraint algorithm2167072.023.3
      Algorithm in Ref.［15］2601886.76.0
      Proposed approach2533184.310.3
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    Chang Liu, Ming Ling, Xing Wang, Shulong Zhai, Qipeng Rao. Improved Angle Constraint Lidar Obstacle Detection Method[J]. Laser & Optoelectronics Progress, 2023, 60(12): 1228008

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    Paper Information

    Category: Remote Sensing and Sensors

    Received: May. 5, 2022

    Accepted: Jul. 5, 2022

    Published Online: Jun. 1, 2023

    The Author Email: Ming Ling (Lingming200093@hotmail.com)

    DOI:10.3788/LOP221510

    Topics

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