Road-surface abstraction using ladar sensing

Propose a road-surface abstraction algorithm which suitable for structured and semi-structured road environments. Algorithm uses fuzzy cluster method which based on maximum entropy theory to cluster ladar points that belong to a scan line. After fitting clustered data linearly, one can abstract straight lines that belong to road-surface by their location and slope angle. We can acquire a current referenced horizontal by comparing several continuous ladar scan lines and then the algorithm abstracts obstacles on road-surface area. Experiments show our algorithm works well in spite of the road-boundary's shape is regular or not, and free from the impact of complex texture or irregular illumination of the road.