Mr. Zhihui Wang Profile

Zhihui Wang

at Nanjing Univ of Science and Technology

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Proceedings Article | 30 June 2021 Paper

A road segmentation method based on reorganized LiDAR points and line scanning

Zhihui Wang, Hao Gu, Ning Yin

Proceedings Volume 11878, 118780S (2021) https://doi.org/10.1117/12.2601067

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Road segmentation is an important part of autonomous driving vehicles. Reliable road segmentation results are a prerequisite for autonomous driving tasks, e.g., path planning. In this paper, we propose a road segmentation method based on 3D point cloud organization and line scanning of LiDAR data. Our model assumes that road areas are always flatter than non-road areas. First, we propose an adjacent-line-difference (ALD) feature to define the flatness of the point cloud. Using this feature, the approximate road area can be estimated. Then, we proposed a horizontal and vertical scanning strategy to obtain a more accurate road area. In order to prove the effectiveness of our method, experiments are conducted on the public KITTI-Road benchmark. The experimental results prove that the proposed approach can achieve one of the best performances among all LiDAR-based methods.

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