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http://dx.doi.org/10.9728/dcs.2017.18.5.989

2D LiDAR based 3D Pothole Detection System  

Kim, Jeong-joo (Driver Assistance System Center, Mando Corporation)
Kang, Byung-ho (School of Electronics and Computer Engineering, Chonnam National University)
Choi, Su-il (School of Electronics and Computer Engineering, Chonnam National University)
Publication Information
Journal of Digital Contents Society / v.18, no.5, 2017 , pp. 989-994 More about this Journal
Abstract
In this paper, we propose a pothole detection system using 2D LiDAR and a pothole detection algorithm. Conventional pothole detection methods can be divided into vibration-based method, 3D reconstruction method, and vision-based method. Proposed pothole detection system uses two inexpensive 2D LiDARs and improves pothole detection performance. Pothole detection algorithm is divided into preprocessing for noise reduction, clustering and line extraction for visualization, and gradient function for pothole decision. By using gradient of distance data function, we check the existence of a pothole and measure the depth and width of the pothole. The pothole detection system is developed using two LiDARs, and the 3D pothole detection performance is shown by detecting a pothole with moving LiDAR system.
Keywords
Pothole; LiDAR; Clustering; Line extraction; Iterative End-Point Fit Algorithm;
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Times Cited By KSCI : 1  (Citation Analysis)
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