A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also fa...A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also facilitates the detection of dynamic and hollowed-out obstacles. Essentially using this method, an improved clustering algorithm based on fast search and discovery of density peaks （CBFD） is presented to extract various obstacles in the environment map. By comparing with other cluster algorithms, CBFD can obtain a favorable number of clusterings automatically. Furthermore, the experiments show that CBFD is better and more robust in functionality and performance than the K-means and iterative self-organizing data analysis techniques algorithm （ISODATA）.展开更多
根据系列化中国标准地铁障碍物检测系统的要求,结合传感器技术的发展趋势,设计了一套符合当前标准地铁列车运用需求的障碍物检测系统。该系统通过激光雷达、摄像头、辅助防护雷达、毫米波雷达等传感器采集车辆前方数据,高性能主机实时...根据系列化中国标准地铁障碍物检测系统的要求,结合传感器技术的发展趋势,设计了一套符合当前标准地铁列车运用需求的障碍物检测系统。该系统通过激光雷达、摄像头、辅助防护雷达、毫米波雷达等传感器采集车辆前方数据,高性能主机实时计算将数据融合处理,实现多类型数据的采集、轨道线判别、障碍物识别、列车间防碰撞预警。该系统通过车辆以太网通讯端口连接列车网络控制系统(TCMS),可以实现设备状态数据、障碍物信息的实时传输。该系统已成功应用到时速120 km/h A型地铁列车安全系统中。展开更多
基金Supported by the National Natural Science Foundation of China(61103157)
文摘A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also facilitates the detection of dynamic and hollowed-out obstacles. Essentially using this method, an improved clustering algorithm based on fast search and discovery of density peaks （CBFD） is presented to extract various obstacles in the environment map. By comparing with other cluster algorithms, CBFD can obtain a favorable number of clusterings automatically. Furthermore, the experiments show that CBFD is better and more robust in functionality and performance than the K-means and iterative self-organizing data analysis techniques algorithm （ISODATA）.
文摘根据系列化中国标准地铁障碍物检测系统的要求,结合传感器技术的发展趋势,设计了一套符合当前标准地铁列车运用需求的障碍物检测系统。该系统通过激光雷达、摄像头、辅助防护雷达、毫米波雷达等传感器采集车辆前方数据,高性能主机实时计算将数据融合处理,实现多类型数据的采集、轨道线判别、障碍物识别、列车间防碰撞预警。该系统通过车辆以太网通讯端口连接列车网络控制系统(TCMS),可以实现设备状态数据、障碍物信息的实时传输。该系统已成功应用到时速120 km/h A型地铁列车安全系统中。
