TY - GEN
T1 - Unstructured Road Slope Recognition Based on Improved RANSAC Algorithm
AU - Hong, Liang
AU - Han, Lijin
AU - Liu, Hui
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Unstructured road scenes usually have bumpy and undulating features, and there are often obstacles such as potholes and stones on the ground. At the same time, the lidar point cloud with low beams is relatively sparse, which easily affects the accuracy of slope detection results. In response to these problems, this paper proposes a real-time detection method for unstructured road slope based on the improved RANSAC algorithm. Use inertial navigation to obtain vehicle motion information, fuse historical frame point clouds to enrich the point cloud density, then perform multi-scale rasterization on the point cloud, and then use the improved RANSAC algorithm to fit the point cloud, and finally get the slope of the road. Experimental results verify that the algorithm can improve detection accuracy, real-time performance, and effectiveness.
AB - Unstructured road scenes usually have bumpy and undulating features, and there are often obstacles such as potholes and stones on the ground. At the same time, the lidar point cloud with low beams is relatively sparse, which easily affects the accuracy of slope detection results. In response to these problems, this paper proposes a real-time detection method for unstructured road slope based on the improved RANSAC algorithm. Use inertial navigation to obtain vehicle motion information, fuse historical frame point clouds to enrich the point cloud density, then perform multi-scale rasterization on the point cloud, and then use the improved RANSAC algorithm to fit the point cloud, and finally get the slope of the road. Experimental results verify that the algorithm can improve detection accuracy, real-time performance, and effectiveness.
KW - 3D LiDAR
KW - IMU
KW - Slope Detection
KW - Unstructured Road
UR - http://www.scopus.com/inward/record.url?scp=85163399796&partnerID=8YFLogxK
U2 - 10.1109/CISCE58541.2023.10142624
DO - 10.1109/CISCE58541.2023.10142624
M3 - Conference contribution
AN - SCOPUS:85163399796
T3 - 2023 5th International Conference on Communications, Information System and Computer Engineering, CISCE 2023
SP - 322
EP - 325
BT - 2023 5th International Conference on Communications, Information System and Computer Engineering, CISCE 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Communications, Information System and Computer Engineering, CISCE 2023
Y2 - 14 April 2023 through 16 April 2023
ER -