Drivable space characterization using automotive lidar and georeferenced map information - Archive ouverte HAL Access content directly
Conference Papers Year : 2012

Drivable space characterization using automotive lidar and georeferenced map information

Abstract

The characterization in real-time of the drivable space in front of the vehicle is a key issue for safe autonomous navigation or driving assistance. This paper presents a method that uses a lidar (a multilayer laser scanner) integrated in the front bumper of an automotive vehicle. A grid processing is first applied to detect and localize objects in the immediate environment after having compensated the movement of the vehicle. Accurate map information is then introduced in the perception scheme to refine the characterization of the drivable space. The paper details the different processing stages necessary to implement this method and presents the design of the system that has been prototyped on board an experimental vehicle. We report real experiments carried out in challenging urban environments to illustrate the performance of this approach which has been evaluated thanks to a precise retro-projection of the estimated drivable space in a wide-angle scene camera.
No file

Dates and versions

hal-01076059 , version 1 (21-10-2014)

Identifiers

  • HAL Id : hal-01076059 , version 1

Cite

Julien Moras, Sergio Alberto Rodriguez Florez, Vincent Drevelle, Gérald Dherbomez, Véronique Cherfaoui, et al.. Drivable space characterization using automotive lidar and georeferenced map information. IEEE Intelligent Vehicles Symposium (IV 2012), Jun 2012, Alcala de Henares, Spain. ⟨hal-01076059⟩
288 View
0 Download

Share

Gmail Facebook X LinkedIn More