Session: 07-14-01 Measurement and Analysis Techniques in Nonlinear Dynamic Systems I

Paper Number: 70747

Start Time: Tuesday, 04:10 PM

70747 - Use of LiDAR for Negative Obstacle Detection: A Thorough Review 

Negative obstacles for field autonomous land vehicles refer to potholes, ditches, cliffs, ditches, pits, or any type of obstacles that are on the road but not in a visible way, which bring risks both to the vehicles or potential passengers and even to the environments where autonomous land vehicles develop. These negative obstacles can cause severe damage to autonomous land vehicles, from damage to the vehicle's suspension, rollovers, or even loss of the autonomous vehicle. Obstacle detection is the first step to avoid any risk, and it is extremely important to be able to warn of nearby obstacles, to avoid any type of danger that may arise. In recent years several articles have been published on the different types of hazards or obstacles and different methods of avoiding them. The authors report on ways to better understand the environment so that autonomous land vehicles stay out of harm's way. Some of the dangers could, among others, the collision with another vehicle, hitting a pedestrian, not recognizing the traffic signs on the road, leaving the planned routes or lanes, not braking when they detect an obstacle. The use of image recognition using different types of cameras, as well as the use of ultrasonic sensors and Light Detection and Ranging (LiDAR) sensors, or the combination of some or all of the sensors is widely used in the field of autonomous land vehicles. Most of this research work has been carried out in positive obstacle detection; that is, obstacles that are above the road. However, the detection of negative obstacles and their avoidance remains less explored. Due to this, an exhaustive review is made of the state of the art of use of the LiDAR sensor in the detection of negative obstacles applied in autonomous land vehicles and the different techniques that have been used to recognize and classify the different types of potholes, ditches, pits. or any type of negative obstacles on the planned route encountered by the autonomous land vehicles, to avoid any type of danger that represents the collision of a negative obstacle with the autonomous land vehicle.

This paper presents a general overview of the current state-of-the-art in negative obstacle detection using a Light Detection and Ranging (LiDAR). LiDAR applications on autonomous land vehicles mapping the terrain to find possible negative obstacles are also investigated by the authors. First, the basic concepts of LiDAR are presented, next, the paper reviews the different techniques to identify the negative obstacle and their application to autonomous land vehicles using LiDAR. Finally, this work provides an overview of the limitations and challenges LiDAR sensors are facing today.

Presenting Author: Luis Daniel Guerrero-Bañales UNAM-UAT

Authors:

Luis Daniel Guerrero-Bañales UNAM-UAT
Ignacio Hernandez-Bautista Cátedra CONACYT
Marcelo López-Parra UNAM-UAT
Osiris Ricardo-Torres UNAM-UAT