Study on detection method of proceeding obstacle based on 3D range image by laser radar

Baiyuan Gu; Changting Li

doi:10.1117/12.2687173

6 August 2023 Study on detection method of proceeding obstacle based on 3D range image by laser radar

Baiyuan Gu, Changting Li

Author Affiliations +

Proceedings Volume 12781, International Conference on Optoelectronic Information and Functional Materials (OIFM 2023); 127812W (2023) https://doi.org/10.1117/12.2687173
Event: 2023 International Conference on Optoelectronic Information and Functional Materials (OIFM 2023), 2023, Guangzhou, JS, China

Abstract

In the paper, obstacle was detected by 3D information of laser sensor. Firstly, CS media filter is adapted to cope with noise based on the structure character of formal obstacle. Then, an energy function is used to obtain potential region of obstacle based on the data difference between target and background. In the end, location of obstacle is utilized by projection and region-growing method. At the same time, we can know the height width and distance of vehicle based on the result of location and the 3D information. Experimental results show that this method has high robustness and accuracy.

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Baiyuan Gu and Changting Li "Study on detection method of proceeding obstacle based on 3D range image by laser radar", Proc. SPIE 12781, International Conference on Optoelectronic Information and Functional Materials (OIFM 2023), 127812W (6 August 2023); https://doi.org/10.1117/12.2687173

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KEYWORDS

LIDAR

Tunable filters

Windows

3D image processing

Digital filtering

Sensors

Ranging

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