Identifying Puddles based on Intensity Measurement using LiDARIdentifying Puddles based on Intensity Measurement using LiDAR
- Other Titles
- Identifying Puddles based on Intensity Measurement using LiDAR
- Authors
- 이민영; 김지철; 차무현; 이한민; 이수용
- Issue Date
- Sep-2023
- Publisher
- 한국센서학회
- Keywords
- Puddle; Autonomous vehicle; LiDAR; Linear regression; Data segmentation
- Citation
- 센서학회지, v.32, no.5, pp 267 - 274
- Pages
- 8
- Journal Title
- 센서학회지
- Volume
- 32
- Number
- 5
- Start Page
- 267
- End Page
- 274
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/31764
- DOI
- 10.46670/JSST.2023.32.5.267
- ISSN
- 1225-5475
2093-7563
- Abstract
- LiDAR, one of the most important sensing methods used in mobile robots and cars with assistive/autonomous driving functions, isused to locate surrounding obstacles or to build maps. For real-time path generation, the detection of potholes or puddles on the drivingsurface is crucial. To achieve this, we used the coordinates of the reflection points provided by LiDAR as well as the intensity informationto classify water areas, which was achieved by applying a linear regression method to the intensity distribution. The rationalefor using the LiDAR index as an input variable for linear regression is presented, and we demonstrated that it is not affected by errorsin the distance measurement value. Because of LiDAR vertical scanning, if the reflective surface is not uniform, it is divided into differentgroups according to the intensity distribution, and a mathematical basis for this is presented. Through experiments in an outdoordriving area, we could distinguish between flat ground, potholes, and puddles, and kinematic analysis was performed to calculate themaximum width that could be crossed for a given vehicle body size and wheel radius.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of Engineering > Department of Mechanical and System Design Engineering > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/31764)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.