A 3D laser scanner system for autonomous vehicle navigation

Francesco Maurelli, David Droeschel, Thomas Wisspeintner, Stefan May, Hartmut Surmann

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Citations (Scopus)


Road segmentation, obstacle detection, situation awareness constitute fundamental tasks for autonomous vehicles in urban environments. This paper describes an end-to-end system capable of generating high-quality 3D point clouds from one or two of the popular LMS200 laser on a continuously moving vehicle. Road segmentation and crossing analysis have been performed on the basis of this newly developed 3D laser scanner. This system is cost-efficient and provides a circumferential view that makes it also applicable to mid-sized robotic platforms, like Volksbot robots. Field experiments from the DARPA Urban Challenge are presented. Our aim is to provide a level of hardware and algorithmic detail suitable for replication of our system by interested parties or to get a cheap 3D laser scanner for research for those who do not wish to invest in hardware development.

Original languageEnglish
Title of host publication2009 International Conference on Advanced Robotics, ICAR 2009
Publication statusPublished - 2009
Event2009 International Conference on Advanced Robotics - Munich, Germany
Duration: 22 Jun 200926 Jun 2009


Conference2009 International Conference on Advanced Robotics
Abbreviated titleICAR 2009


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