Chang Liu, Ming Ling, Xing Wang, Shulong Zhai, Qipeng Rao. Improved Angle Constraint Lidar Obstacle Detection Method[J]. Laser & Optoelectronics Progress, 2023, 60(12): 1228008
- Laser & Optoelectronics Progress
- Vol. 60, Issue 12, 1228008 (2023)
Fig. 1. Point cloud and its corresponding depth map. (a) Point cloud data; (b) depth map
Fig. 2. Schematic of RGF algorithm
Fig. 3. Ground point segmentation. (a) Point cloud data; (b) point cloud data after ground segmentation
Fig. 4. Schematic of algorithms. (a) Traditional angle constraint algorithm; (b) new breakpoint detector
Fig. 5. Diagram of graph structure
Fig. 6. Flowchart of search merging
Fig. 7. Experimental platform
Fig. 8. Running time consumption. (a) RS-LiDAR-16 dataset; (b) HDL-64 dataset
Fig. 9. Obstacle detection results. (a) (b) HDL-64 data set; (c) (d) RS-LiDAR-16 dataset
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Table 1. Comparison of different algorithms on HDL-64 dataset
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Table 2. Comparison of different algorithms on RS-LiDAR-16 dataset
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