An Obstacle Classification Method Using Multi-feature Comparison Based on 2D LIDAR Database

摘要

We propose an obstacle classification method using multi feature comparison based on 2D LIDAR. The existing obstacle classification method based on 2D LIDAR has an advantage in terms of accuracy and shorter calculation time. However, it was difficult to classify obstacle type, and therefore accurate path planning was not possible. To overcome this problem, a method of classifying obstacle type based on width data had been proposed. However, width data was not sufficient to enable accurate obstacle classification. The proposed algorithm of this paper involves comparison with database to classify obstacle type. Database was generated using width, intensity and range variance data. Experiments using a real autonomous vehicle in a real environment showed that calculation time decreased in comparison with 3D LIDAR-based method, thus demonstrating the possibility of obstacle type classification using single 2D LIDAR.