Fast feature detection and stochastic parameter estimation of road shape using multiple LIDAR

  • Peterson K
  • Ziglar J
  • Rybski P
  • 60

    Readers

    Mendeley users who have this article in their library.
  • 47

    Citations

    Citations of this article.

Abstract

This paper describes an algorithm for an autonomous car to identify the shape of a roadway by detecting geometric features via LIDAR. The data from multiple LIDAR are fused together to detect both obstacles as well as geometric features such as curbs, berms, and shoulders. These features identify the boundaries of the roadway and are used by a stochastic state estimator to identify the most likely road shape. This algorithm has been used successfully to allow an autonomous car to drive on paved roadways as well as on off-road trails without requiring different sets of parameters for the different domains.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Authors

  • Jason ZiglarVirginia Polytechnic Institute and State University Office of Economic Development

    Follow
  • Kevin Peterson

  • Paul E. Rybski

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free