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Sensors 2014, 14(11), 20400-20418;

Robust Object Segmentation Using a Multi-Layer Laser Scanner

Electrical and Electronic Engineering Department, Yonsei University, Seoul 120-749, Korea
Advanced Driver Assistance System Recognition Development Team, Hyundai Motors, Gyeonggi 445-706, Korea
These authors contributed equally to this work.
Author to whom correspondence should be addressed.
Received: 14 September 2014 / Revised: 21 October 2014 / Accepted: 21 October 2014 / Published: 29 October 2014
(This article belongs to the Special Issue Positioning and Tracking Sensors and Technologies in Road Transport)
Full-Text   |   PDF [4042 KB, uploaded 29 October 2014]


The major problem in an advanced driver assistance system (ADAS) is the proper use of sensor measurements and recognition of the surrounding environment. To this end, there are several types of sensors to consider, one of which is the laser scanner. In this paper, we propose a method to segment the measurement of the surrounding environment as obtained by a multi-layer laser scanner. In the segmentation, a full set of measurements is decomposed into several segments, each representing a single object. Sometimes a ghost is detected due to the ground or fog, and the ghost has to be eliminated to ensure the stability of the system. The proposed method is implemented on a real vehicle, and its performance is tested in a real-world environment. The experiments show that the proposed method demonstrates good performance in many real-life situations. View Full-Text
Keywords: laser scanner; obstacle detection; segmentation; advanced driver assistance system (ADAS) laser scanner; obstacle detection; segmentation; advanced driver assistance system (ADAS)
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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Kim, B.; Choi, B.; Yoo, M.; Kim, H.; Kim, E. Robust Object Segmentation Using a Multi-Layer Laser Scanner. Sensors 2014, 14, 20400-20418.

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