关键词: 激光雷达, 障碍物检测, 栅格地图, 聚类

Abstract: Aiming at the problems that the resolution capability of lidar scanning angle was not high enough， the remote point cloud was sparse and the target segmentation and clustering were not accurate， an obstacle detection algorithm was proposed based on four-layer lidars. After rasterization and filtering of raw radar data， clustering and segmentation of filtering results were performed. The clustering distance threshold was determined by the grid depth values， and the accurate clustering ranges were obtained by connecting the connected region marking algorithm. The matching accuracy of clustering was further improved by matching the movement status informations of adjacent obstacles. The experimental results show that the proposed algorithm， compared with existing segmentation clustering algorithms， may obtain the information of obstacles on road accurately and prevent the over-segmentation effectively.

Key words: lidar, obstacle detection, grid map, clustering