LIU Jian1,2, LIANG Huawei2, MEI Tao2, WANG Zhiling2, WU Yihua3, DU Mingbo1,2, DENG Yao1,2
1. Department of Automation, University of Science and Technology of China, Hefei 230027, China;
2. Institute of Applied Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230027, China;
3. Ma'anshan Power Supply Company, State Grid Anhui Electric Power Company, Ma'anshan 243000, China
Abstract：The road curb detection based on obstacle grid map is implemented mainly through the growing of road area or the seed points satisfying the features of road curb. However, these algorithms are prone to be affected by the obstacles inside the road area because of the absence of the road shape information, such as road trend information and road width distribution information. To overcome this problem, distance transformation is firstly performed on obstacle grid map to acquire the trend information, followed by the construction of width distribution histogram to express road width distribution information. Based on these, road curb seed points are extracted, the full road curb points are obtained through region growth, and the road curb shape is acquired through quadratic curve fitting. The experiment proves that the algorithm presented performs relatively more robust and accurate for the road curb extraction in relative busier road.
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