Free space and speed humps detection using lidar and vision for urban autonomous navigation

In this paper, a real-time free space detection system is presented using a medium-cost lidar sensor and a low cost camera. The extrinsic relationship between both sensors is obtained after an off-line calibration process. The lidar provides measurements corresponding to 4 horizontal layers with a vertical resolution of 3.2 degrees. These measurements are integrated in time according to the relative motion of the vehicle between consecutive laser scans. A special case is considered here for Spanish speed humps, since these are usually detected as an obstacle. In Spain, speed humps are directly related with raised zebra-crossings so they should have painted white stripes on them. Accordingly the conditions required to detect a speed hump are: detect a slope shape on the road and detect a zebra crossing at the same time. The first condition is evaluated using lidar sensor and the second one using the camera.