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CC BY V4.0, Open Access
Journal article
Obstacle detection by autonomous vehicles: An adaptive neighborhood search radius clustering approach
Machines (Basel), Vol.11(1), Art. 54
2023
Abstract
For autonomous vehicles, obstacle detection results using 3D lidar are in the form of point clouds, and are unevenly distributed in space. Clustering is a common means for point cloud processing; however, improper selection of clustering thresholds can lead to under-segmentation or over-segmentation of point clouds, resulting in false detection or missed detection of obstacles. In order to solve these problems, a new obstacle detection method was required. Firstly, we applied a distance-based filter and a ground segmentation algorithm, to pre-process the original 3D point cloud. Secondly, we proposed an adaptive neighborhood search radius clustering algorithm, based on the analysis of the relationship between the clustering radius and point cloud spatial distribution, adopting the point cloud pitch angle and the horizontal angle resolution of the lidar, to determine the clustering threshold. Finally, an autonomous vehicle platform and the offline autonomous driving KITTI dataset were used to conduct multi-scene comparative experiments between the proposed method and a Euclidean clustering method. The multi-scene real vehicle experimental results showed that our method improved clustering accuracy by 6.94%, and the KITTI dataset experimental results showed that the F1 score increased by 0.0629.
Details
- Title
- Obstacle detection by autonomous vehicles: An adaptive neighborhood search radius clustering approach
- Authors/Creators
- Wuhua Jiang - Hefei University of TechnologyChuanzheng Song - Hefei University of TechnologyHai Wang - Murdoch University, Centre for Water, Energy and WasteMing Yu - Hefei University of TechnologyYajie Yan - Hefei University of Technology
- Publication Details
- Machines (Basel), Vol.11(1), Art. 54
- Publisher
- MDPI
- Number of pages
- 16
- Grant note
- 62173119; 61673154 / National Natural Science Foundation of China; National Natural Science Foundation of China (NSFC)
- Identifiers
- 991005564669107891
- Copyright
- © 2023 by the authors.
- Murdoch Affiliation
- School of Engineering and Energy
- Language
- English
- Resource Type
- Journal article
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- 4 Electrical Engineering, Electronics & Computer Science
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- 4.17.2798 Stereo Depth Estimation
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- Engineering, Electrical & Electronic
- Engineering, Mechanical
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