Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Identifying Puddles based on Intensity Measurement using LiDAR

  • Minyoung Lee (Department of Smart Machine Technology, Korea Institute of Machinery and Materials) ;
  • Ji-Chul Kim (Department of Smart Machine Technology, Korea Institute of Machinery and Materials) ;
  • Moo Hyun Cha (Department of Smart Machine Technology, Korea Institute of Machinery and Materials) ;
  • Hanmin Lee (Department of Smart Machine Technology, Korea Institute of Machinery and Materials) ;
  • Sooyong Lee (Department of Mechanical and System Design Engineering, Hongik University)
  • Received : 2023.09.01
  • Accepted : 2023.09.25
  • Published : 2023.09.30
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Abstract

LiDAR, one of the most important sensing methods used in mobile robots and cars with assistive/autonomous driving functions, is used to locate surrounding obstacles or to build maps. For real-time path generation, the detection of potholes or puddles on the driving surface is crucial. To achieve this, we used the coordinates of the reflection points provided by LiDAR as well as the intensity information to classify water areas, which was achieved by applying a linear regression method to the intensity distribution. The rationale for using the LiDAR index as an input variable for linear regression is presented, and we demonstrated that it is not affected by errors in the distance measurement value. Because of LiDAR vertical scanning, if the reflective surface is not uniform, it is divided into different groups according to the intensity distribution, and a mathematical basis for this is presented. Through experiments in an outdoor driving area, we could distinguish between flat ground, potholes, and puddles, and kinematic analysis was performed to calculate the maximum width that could be crossed for a given vehicle body size and wheel radius.

Keywords

Acknowledgement

This research was supported by the Basic Research Project of Korea Institute of Machinery and Materials (Project ID: NK242I).

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