Laser intensity-based obstacle detection

We present a novel method for obstacle detection for automated highway environments. Laser range scanners have frequently been used for obstacle detection for mobile robots. Although most laser scanners provide intensity information in addition to range, laser intensity has been ignored by most researchers. We show that laser intensity, on its own, is sufficient (and better) for detecting obstacles at long ranges in mild terrain such as an automated highway.

Authors

• John A. Hancock
• Martial Hebert
• Charles E. Thorpe

Keywords

• Reflectivity
• Laser modes
• Automated highways
• Road transportation
• Object detection
• Vehicle detection
• Vertical cavity surface emitting lasers
• Surface emitting lasers
• Power lasers
• Road vehicles
• Highway
• Signal-to-noise
• Volume Of Data
• Intensity Ratio
• Incident Angle
• Road Surface
• Light Detection And Ranging
• Topographic Maps
• Surface Reflectance
• Laser Intensity
• Internal Reflection
• Obstacle Avoidance
• Specular Reflection
• Horizontal Surface
• Vertical Surface
• Laser Ranging
• Types Of Obstacles
• Laser Reflection