LRF-Based Road Terrain Classification

Abstract

The utilization of an accelerometer is supposed to estimate the road profile from which the spatial features are extracted. However, the estimated road profile only represents the curvature of the terrain on the vehicle’s moving orientation. Here, it is proposed to employ the LRF sensor to represent the road surface which would contain substantial information. Moreover, because it works with higher scanning speed, this classification method is expected to be minimally affected by the change of the vehicle’s speed.