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Proceedings Paper

Obstacle detection in range image from laser radar
Author(s): Deshen Xia; Bo Sun; Hui-Feng Tan; Jing-Yu Yan; Yong Liu
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Paper Abstract

Laser radar has been used in scene distance measure since 80's. Because of its initiative character, we can obtain images without the influence of light conditions, no matter day and night, the results are the same. So laser radars are widely used. But how to use range images obtained from laser radars to rebuild 3D scene and then detect the obstacle in the scene is an interesting subject. The radar image based on vertical view implies the height characteristics of object in the image. This paper we propose, introduces a method to get object's height image using insection and locus algorithm, and also has the image thinningly processed. This paper advances slope detection, using slope fitting algorithm in order to detect obstacle. The experiment results show that we can obtain good 3D scene description from range image of laser radar. The algorithm in this paper is advantageous to decrease the influence of noise and correct distortion.

Paper Details

Date Published: 6 October 1994
PDF: 12 pages
Proc. SPIE 2355, Sensor Fusion VII, (6 October 1994); doi: 10.1117/12.189051
Show Author Affiliations
Deshen Xia, Nanjing Univ. of Science and Technology (China)
Bo Sun, Nanjing Univ. of Science and Technology (China)
Hui-Feng Tan, Nanjing Univ. of Science and Technology (China)
Jing-Yu Yan, Nanjing Univ. of Science and Technology (China)
Yong Liu, Nanjing Univ. of Science and Technology (China)

Published in SPIE Proceedings Vol. 2355:
Sensor Fusion VII
Paul S. Schenker, Editor(s)

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