LiDAR-Based Road Extraction for UGV in High Definition Map

Shengguo Hu, Huivan Chen, Boyang Wang, Jianwei Gong*, Yuedong Ma

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)

Abstract

Extracting road information from the high-density point cloud collected by the vehicle-borne laser scanning system is essential for making High Definition (HD) maps. This paper proposes a three-dimensional (3D) laser point cloudbased pavement extraction method applicable to roads of different structure types. First, the filtering method based on cloth simulation is used to extract all ground point sets from the original point cloud data. The partial surface points in front of the vehicle are selected from the ground point to estimate the normal vector of the road surface model. Then, based on the uniformity of the point cloud density distribution of the road surface, all the road points are finally filtered out from the plane point concentration by calculating the continuity of the onedimensional and two-dimensional point density. After that, according to the characteristics that the road points are positively distributed, the method based on the skewness balance is used to estimate the separable road sign. We show that this method can accurately extract road surface information from point cloud data with an extraction rate of 96.1%.

Original languageEnglish
Title of host publicationProceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages303-308
Number of pages6
ISBN (Electronic)9781728180250
DOIs
Publication statusPublished - 27 Nov 2020
Event3rd International Conference on Unmanned Systems, ICUS 2020 - Harbin, China
Duration: 27 Nov 202028 Nov 2020

Publication series

NameProceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020

Conference

Conference3rd International Conference on Unmanned Systems, ICUS 2020
Country/TerritoryChina
CityHarbin
Period27/11/2028/11/20

Keywords

  • Point cloud data
  • Road extraction
  • Vehicle-borne laser scanning system

Fingerprint

Dive into the research topics of 'LiDAR-Based Road Extraction for UGV in High Definition Map'. Together they form a unique fingerprint.

Cite this