本文選題：無人駕駛車輛 + 三維激光雷達��； 參考：《汽車技術(shù)》2017年06期

【摘要】：為實現(xiàn)無人駕駛車輛利用車載三維激光雷達提取道路可通行區(qū)域,提出了一種基于小波變換結(jié)合模糊線段擬合的道路分割提取方法。利用探測傾角聚類的方法分割激光雷達掃描線在地面上的投影,通過小波變換初步確定路沿和障礙物位置,再使用模糊線段的方法精確定位路沿和障礙物。試驗結(jié)果表明,該方法具有較高的精度與實時性。
[Abstract]:A road segmentation and extraction method based on wavelet transform combined with fuzzy line segment fitting is proposed to realize road passable area extraction of driverless vehicles using vehicle-mounted 3D lidar. The projection of laser radar scanning line on the ground is divided by the method of detecting dip clustering. The position of road edge and obstacle is preliminarily determined by wavelet transform, and then the fuzzy line segment is used to accurately locate the road edge and obstacle. The experimental results show that this method has high accuracy and real-time performance.
【作者單位】： 武漢理工大學現(xiàn)代汽車零部件技術(shù)湖北省重點實驗室汽車零部件技術(shù)湖北省協(xié)同創(chuàng)新中心;
【基金】：國家自然科學基金項目(51405359) 武漢理工大學自主創(chuàng)新研究基金項目(2016-zy-031)
【分類號】：TN958.98;U463.6
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本文編號：2016862