Journals Articles Conferences News About CLP
Submit a paper Email Alert
Search
Search
Articles
Journals
News
Advanced Search
Top Searches
2D MaterialsTransformation opticsQuantum PhotonicsSmall lasersSemiconductor UV PhotonicsSupersymmetric microring laser arrays

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
    • show less
    AbstractGet PDF(in Chinese)
    Figures&Tables (10)
    Equations (0)
    References (15)
    Cited By (8)
    Tools
    Paper Information
    Topics
    Figures & Tables(10)
    Flowchart of proposed method

    Fig. 1. Flowchart of proposed method

    Download full size
    Schematic of fan grid

    Fig. 2. Schematic of fan grid

    Download full size
    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

    Download full size
    Schematic of gradient inspection process in radial direction

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

    Download full size
    New start grid determination method

    Fig. 5. New start grid determination method

    Download full size
    Smoothing process

    Fig. 6. Smoothing process

    Download full size
    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

    Download full size
    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

    Download full size
    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

    Download full size

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

      View table

      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
    Tools

    Get Citation

    Copy Citation Text

    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

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Set citation alerts for article
    Save article for my favorites
    Paper Information

    Category: Remote Sensing and Sensors

    Received: Jun. 6, 2020

    Accepted: Aug. 3, 2020

    Published Online: Mar. 19, 2021

    The Author Email: Changqing Du (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