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 to detect whether the area
scanned is a road or an obstacle. The proposed method is
implemented through simulation and a real-life test vehicle called


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