NDLI: Graph-based 2D road representation of 3D point clouds for intelligent vehicles

Content Provider	IEEE Xplore Digital Library
Author	Chunzhao Guo Sato, W. Long Han Mita, S. McAllester, D.
Copyright Year	2011
Description	Author affiliation: Toyota Technological Institute, Nagoya, Aichi 468-8511 Japan (Chunzhao Guo; Sato, W.; Long Han; Mita, S.) \|\| Toyota Technological Institute at Chicago, IL 60637 USA (McAllester, D.)
Abstract	Comprehensive situational awareness is paramount to the effectiveness of proprietary navigational and higher-level functions of intelligent vehicles. In this paper, we address a graph-based approach for 2D road representation of 3D point clouds with respect to the road topography. We employ the gradient cues of the road geometry to construct a Markov Random Filed (MRF) and implement an efficient belief propagation (BP) algorithm to classify the road environment into four categories, i.e. the reachable region, the drivable region, the obstacle region and the unknown region. The proposed approach can overcome a wide variety of practical challenges, such as sloped terrains, rough road surfaces, rolling/pitching of the host vehicle, etc., and represent the road environment accurately as well as robustly. Experimental results in typical but challenging environments have substantiated that the proposed approach is more sensitive and reliable than the conventional vertical displacements analysis and show superior performance against other local classifiers.
Starting Page	715
Ending Page	721
File Size	842242
Page Count	7
File Format	PDF
ISBN	9781457708909
ISSN	19310587
e-ISBN	9781457708916
DOI	10.1109/IVS.2011.5940502
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-05
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Roads Vehicles Three dimensional displays Laser beams Labeling Surface roughness Laser radar
Content Type	Text
Resource Type	Article

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