Changyong Zhang, Zhihua Chen, Liang Han. Obstacle Detection of Lidar Based on Improved DBSCAN Algorithm[J]. Laser & Optoelectronics Progress, 2021, 58(24): 2428005
- Laser & Optoelectronics Progress
- Vol. 58, Issue 24, 2428005 (2021)
Fig. 1. Division diagram of XOY plane
Fig. 2. Division diagram of sector region
Fig. 3. Scan diagram of 3D lidar
Fig. 4. Flow chart of obstacle detection
Fig. 5. Extraction process of ROI. (a) Road-boundary detection; (b) data extraction of ROI
Fig. 6. Separation between ground points and non-ground points. (a) Ground points; (b) non-ground points
Fig. 7. Experiment of multi-target obstacle detection. (a) Data collection scene; (b) effect diagram of traditional algorithm; (c) effect diagram of improved algorithm
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Table 1. Performance comparison between traditional and improved DBSCAN algorithms
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