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Information 2017, 8(3), 93;

A Practical Point Cloud Based Road Curb Detection Method for Autonomous Vehicle

School of Engineering, Anhui Agriculture University, Hefei 230036, China
School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, China
Department of Automation, University of Science and Technology of China, Hefei 230026, China
Institute of Applied Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China
Ma’anshan Power Supply Company, Ma’anshan 243000, China
Author to whom correspondence should be addressed.
Received: 22 May 2017 / Revised: 21 July 2017 / Accepted: 21 July 2017 / Published: 30 July 2017
(This article belongs to the Special Issue Intelligent Transportation Systems)


Robust and quick road curb detection under various situations is critical in developing intelligent vehicles. However, the road curb detection is easily affected by the obstacles in the road area when Lidar based method is applied. A practical road curb detection method using point cloud from a three-dimensional Lidar for autonomous vehicle is reported in this paper. First, a multi-feature, loose-threshold, varied-scope ground segmentation method is presented to increase the robustness of ground segmentation with which obstacles above the ground can be detected. Second, the road curb is detected by applying the global road trend and an extraction-update mechanism. Experiments show the robustness and efficiency of the road curb detection under various environments. The road curb detection method is 10 times the speed of traditional method and the accuracy is much higher than existing methods. View Full-Text
Keywords: multi-beam Lidar; ground segmentation; road curb detection; autonomous vehicle multi-beam Lidar; ground segmentation; road curb detection; autonomous vehicle

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Huang, R.; Chen, J.; Liu, J.; Liu, L.; Yu, B.; Wu, Y. A Practical Point Cloud Based Road Curb Detection Method for Autonomous Vehicle. Information 2017, 8, 93.

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