Obstacle detection and map reconstruction using multi-layer laser radar
Chunhe Yu, Guobin Chen · Journal of Zhejiang University(Engineering Science) · 2006
Aimed at the autonomous land vehicle(ALV) navigation problem in a cross-country environment,an obstacle detection algorithm based on Kalman filter theory was proposed.Scan data from multi-layer laser radar were analyzed.After the candidate obstacle points were extracted,the non-obstacle scanning points were eliminated,and then the obstacle points were clustered and segmented to retrieve obstacles information.The positions of object obstacles were filtered and tracked using Kalman filter algorithm.By combining the ALV position and pose information from difference global position system/inertial navigation system(DGPS/INS),a three-dimension environment map along ALV route was rebuilt.Experimental results show that the proposed algorithm is robust and reliable,and that the tracking position errors decrease below 10 cm.The algorithm can solve the obstacle detecting problem in cross-country environment,and rebuild the environment map successfully.