Robust object segmentation using a multi-layer laser scanner

Beomseong Kim, Baehoon Choi, Minkyun Yoo, Hyunju Kim, Euntai Kim

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)


The major problem in an advanced driver assistance system (ADAS) is the proper use of sensor measurements and recognition of the surrounding environment. To this end, there are several types of sensors to consider, one of which is the laser scanner. In this paper, we propose a method to segment the measurement of the surrounding environment as obtained by a multi-layer laser scanner. In the segmentation, a full set of measurements is decomposed into several segments, each representing a single object. Sometimes a ghost is detected due to the ground or fog, and the ghost has to be eliminated to ensure the stability of the system. The proposed method is implemented on a real vehicle, and its performance is tested in a real-world environment. The experiments show that the proposed method demonstrates good performance in many real-life situations.

Original languageEnglish
Pages (from-to)20400-20418
Number of pages19
JournalSensors (Switzerland)
Issue number11
Publication statusPublished - 2014 Oct 29

Bibliographical note

Publisher Copyright:
© 2014 by the authors; licensee MDPI, Basel, Switzerland.

All Science Journal Classification (ASJC) codes

  • Analytical Chemistry
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering


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