title: Robust object segmentation using a multi-layer laser scanner.
abstract: The major problem in an advanced driver assistance system (ADAS) is the proper use of sensor measurements and recognition of the surrounding environment. To this end, there are several types of sensors to consider, one of which is the laser scanner. In this paper, we propose a method to segment the measurement of the surrounding environment as obtained by a multi-layer laser scanner. In the segmentation, a full set of measurements is decomposed into several segments, each representing a single object. Sometimes a ghost is detected due to the ground or fog, and the ghost has to be eliminated to ensure the stability of the system. The proposed method is implemented on a real vehicle, and its performance is tested in a real-world environment. The experiments show that the proposed method demonstrates good performance in many real-life situations.
authors.affiliation: Electrical and Electronic Engineering Department, Yonsei University, Seoul 120-749, Korea. battlebs@yonsei.ac.kr.
authors.forename: Beomseong
authors.initials: B
authors.lastname: Kim
authors.affiliation: Electrical and Electronic Engineering Department, Yonsei University, Seoul 120-749, Korea. choibae@yonsei.ac.kr.
authors.forename: Baehoon
authors.initials: B
authors.lastname: Choi
authors.affiliation: Advanced Driver Assistance System Recognition Development Team, Hyundai Motors, Gyeonggi 445-706, Korea. mkyoo83@hyundai.com.
authors.forename: Minkyun
authors.initials: M
authors.lastname: Yoo
authors.affiliation: Advanced Driver Assistance System Recognition Development Team, Hyundai Motors, Gyeonggi 445-706, Korea. hjkim74@hyundai.com.
authors.forename: Hyunju
authors.initials: H
authors.lastname: Kim
authors.affiliation: Electrical and Electronic Engineering Department, Yonsei University, Seoul 120-749, Korea. etkim@yonsei.ac.kr.
authors.forename: Euntai
authors.initials: E
authors.lastname: Kim