Autonomous driving through Curb detection and tracking

This paper presents a strategy to detect and track the curb which means a stone separates road and non-road using a LRF (Laser Range Finder) with particle filter. Our approach to find the position of curb involves two stages. In first stage, Curb detection through curb geometric shape recognize and detect the position of the curbs in laser scanner data. A second stage processes is the curb estimation and tracking using particle filter with laser scanner. Experiments are carried out at the autonomous vehicle in real structured road, and results show the promising performance of the presented method.