A novel method of traversable area extraction fused with LiDAR odometry in off-road environment

Baochang Zhu; Guangming Xiong; Huijun Di; Kaijin Ji; Xin Zhang; Jianwei Gong

doi:10.1109/ICVES.2019.8906333

A novel method of traversable area extraction fused with LiDAR odometry in off-road environment

Baochang Zhu
, Guangming Xiong
, Huijun Di
, Kaijin Ji
, Xin Zhang
, Jianwei Gong

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Citations (Scopus)

Abstract

In off-road environment, to ensure the safe driving of the unmanned-vehicle, we need to get the traversable area for the car. Compared to the urban area, there are not only positive obstacles, but also negative obstacles as well as cliffs in off-road environment. Our paper proposes a novel method to extract the traversable area for the unmanned vehicle. We fuse three LiDARs in order to detect different kinds of obstacles. What's more, we use the result of the LiDAR odometry, which has been proposed by our team, to transform the detection results based on the ego frame into the global one. After that, the historical traversable area is mixed together with the current results on basis of the Bayesian Theory. Ultimately, we get the current off-road traversable area. The method has been tested in off-road environment. The result proves that our system has strong robustness and it's less time consuming. The purposed method is able to get a reliable traversable area for unmanned-vehicles.

Original language	English
Title of host publication	2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728134734
DOIs	https://doi.org/10.1109/ICVES.2019.8906333
Publication status	Published - Sept 2019
Event	2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019 - Cairo, Egypt Duration: 4 Sept 2019 → 6 Sept 2019

Publication series

Name	2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019

Conference

Conference	2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019
Country/Territory	Egypt
City	Cairo
Period	4/09/19 → 6/09/19

Keywords

LiDAR
LiDAR odometry
Traversable area
Unmanned-vehicle

Access to Document

10.1109/ICVES.2019.8906333

Cite this

Zhu, B., Xiong, G., Di, H., Ji, K., Zhang, X., & Gong, J. (2019). A novel method of traversable area extraction fused with LiDAR odometry in off-road environment. In 2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019 Article 8906333 (2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICVES.2019.8906333

Zhu, Baochang ; Xiong, Guangming ; Di, Huijun et al. / A novel method of traversable area extraction fused with LiDAR odometry in off-road environment. 2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019. Institute of Electrical and Electronics Engineers Inc., 2019. (2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019).

@inproceedings{2efe01d0c5ae4405a15a51310ff4a45d,

title = "A novel method of traversable area extraction fused with LiDAR odometry in off-road environment",

abstract = "In off-road environment, to ensure the safe driving of the unmanned-vehicle, we need to get the traversable area for the car. Compared to the urban area, there are not only positive obstacles, but also negative obstacles as well as cliffs in off-road environment. Our paper proposes a novel method to extract the traversable area for the unmanned vehicle. We fuse three LiDARs in order to detect different kinds of obstacles. What's more, we use the result of the LiDAR odometry, which has been proposed by our team, to transform the detection results based on the ego frame into the global one. After that, the historical traversable area is mixed together with the current results on basis of the Bayesian Theory. Ultimately, we get the current off-road traversable area. The method has been tested in off-road environment. The result proves that our system has strong robustness and it's less time consuming. The purposed method is able to get a reliable traversable area for unmanned-vehicles.",

keywords = "LiDAR, LiDAR odometry, Traversable area, Unmanned-vehicle",

author = "Baochang Zhu and Guangming Xiong and Huijun Di and Kaijin Ji and Xin Zhang and Jianwei Gong",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019 ; Conference date: 04-09-2019 Through 06-09-2019",

year = "2019",

month = sep,

doi = "10.1109/ICVES.2019.8906333",

language = "English",

series = "2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019",

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}

Zhu, B, Xiong, G , Di, H, Ji, K, Zhang, X & Gong, J 2019, A novel method of traversable area extraction fused with LiDAR odometry in off-road environment. in 2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019., 8906333, 2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019, Institute of Electrical and Electronics Engineers Inc., 2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019, Cairo, Egypt, 4/09/19. https://doi.org/10.1109/ICVES.2019.8906333

A novel method of traversable area extraction fused with LiDAR odometry in off-road environment. / Zhu, Baochang; Xiong, Guangming ; Di, Huijun et al.
2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 8906333 (2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A novel method of traversable area extraction fused with LiDAR odometry in off-road environment

AU - Zhu, Baochang

AU - Xiong, Guangming

AU - Di, Huijun

AU - Ji, Kaijin

AU - Zhang, Xin

AU - Gong, Jianwei

PY - 2019/9

Y1 - 2019/9

N2 - In off-road environment, to ensure the safe driving of the unmanned-vehicle, we need to get the traversable area for the car. Compared to the urban area, there are not only positive obstacles, but also negative obstacles as well as cliffs in off-road environment. Our paper proposes a novel method to extract the traversable area for the unmanned vehicle. We fuse three LiDARs in order to detect different kinds of obstacles. What's more, we use the result of the LiDAR odometry, which has been proposed by our team, to transform the detection results based on the ego frame into the global one. After that, the historical traversable area is mixed together with the current results on basis of the Bayesian Theory. Ultimately, we get the current off-road traversable area. The method has been tested in off-road environment. The result proves that our system has strong robustness and it's less time consuming. The purposed method is able to get a reliable traversable area for unmanned-vehicles.

AB - In off-road environment, to ensure the safe driving of the unmanned-vehicle, we need to get the traversable area for the car. Compared to the urban area, there are not only positive obstacles, but also negative obstacles as well as cliffs in off-road environment. Our paper proposes a novel method to extract the traversable area for the unmanned vehicle. We fuse three LiDARs in order to detect different kinds of obstacles. What's more, we use the result of the LiDAR odometry, which has been proposed by our team, to transform the detection results based on the ego frame into the global one. After that, the historical traversable area is mixed together with the current results on basis of the Bayesian Theory. Ultimately, we get the current off-road traversable area. The method has been tested in off-road environment. The result proves that our system has strong robustness and it's less time consuming. The purposed method is able to get a reliable traversable area for unmanned-vehicles.

KW - LiDAR

KW - LiDAR odometry

KW - Traversable area

KW - Unmanned-vehicle

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M3 - Conference contribution

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BT - 2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019

Y2 - 4 September 2019 through 6 September 2019

ER -

Zhu B, Xiong G , Di H, Ji K, Zhang X, Gong J. A novel method of traversable area extraction fused with LiDAR odometry in off-road environment. In 2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 8906333. (2019 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2019). doi: 10.1109/ICVES.2019.8906333

A novel method of traversable area extraction fused with LiDAR odometry in off-road environment

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Keywords

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