多线激光雷达越野环境障碍检测

运用多线激光雷达实现了越野环境中障碍物的检测.为了分析了传感器安装参数对系统性能的影响,采用设计了分层聚类算法,实现了场景中数据的分类;对影响雷达测距精度的因素进行了分析,给出了雷达数据的滤波方法;以相对高度,坡度和点密度作为判决条件,完成了越野环境中障碍物的识别.算法应用到了越野环境下无人驾驶车辆的导航上,试验证明方法稳定可靠,符合车辆自主行驶的要求.

Obstacle Detection with Multilayer Ladar in Rough Terrain

The paper completes the obstacle detection in rough terrain with multilayer ladar.After analysing the relationship between sensor configuration and system performance,the paper employes the hierarchical method to cluster the ladar data into objects.Factors affecting the measurements of ladar are given in the paper and a smoothing algorithm is designed based on them.The relative height,slope and density of the objects are selected as the criterion of obstacles and then the obstacles are distinguished from th...