Detection of Road Boundaries and Obstacles Using LIDAR

Abstract—This paper proposes a novel approach to detecting road boundaries and obstacles for robust urban navigation of unmanned ground vehicles (UGVs). In this method, a 2-D Light Detection and Ranging (LIDAR) sensor mounted at a given pitch angle is used to extract the road surface. The information obtained about the road is evaluated by filters … Read more Detection of Road Boundaries and Obstacles Using LIDAR