{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T17:12:55Z","timestamp":1770484375744,"version":"3.49.0"},"reference-count":18,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2013,1,16]],"date-time":"2013-01-16T00:00:00Z","timestamp":1358294400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Curb detection is an important research topic in environment perception, which is an essential part of unmanned ground vehicle (UGV) operations. In this paper, a new curb detection method using a 2D laser range finder in a semi-structured environment is presented. In the proposed method, firstly, a local Digital Elevation Map (DEM) is built using 2D sequential laser rangefinder data and vehicle state data in a dynamic environment and a probabilistic moving object deletion approach is proposed to cope with the effect of moving objects. Secondly, the curb candidate points are extracted based on the moving direction of the vehicle in the local DEM. Finally, the straight and curved curbs are detected by the Hough transform and the multi-model RANSAC algorithm, respectively. The proposed method can detect the curbs robustly in both static and typical dynamic environments. The proposed method has been verified in real vehicle experiments.<\/jats:p>","DOI":"10.3390\/s130101102","type":"journal-article","created":{"date-parts":[[2013,1,16]],"date-time":"2013-01-16T11:20:29Z","timestamp":1358335229000},"page":"1102-1120","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":43,"title":["A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data"],"prefix":"10.3390","volume":"13","author":[{"given":"Zhao","family":"Liu","sequence":"first","affiliation":[{"name":"College of Mechatronics & Automation, National University of Defense Technology, Changsha 410073, Hunan, China"},{"name":"School of Surveying and Geospatial Engineering, the University of New South Wales, Sydney 2052, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinling","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Surveying and Geospatial Engineering, the University of New South Wales, Sydney 2052, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daxue","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Mechatronics & Automation, National University of Defense Technology, Changsha 410073, Hunan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2013,1,16]]},"reference":[{"key":"ref_1","unstructured":"Lane Departure Warning System. 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Beijing, China.","DOI":"10.1109\/ITSC.2008.4732706"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Siegemund, J., Pfeiffer, D., Franke, U., and Forstner, W. (2010, January 21\u201324). Curb Reconstruction Using Conditional Random Fields. San Diego, CA, USA.","DOI":"10.1109\/IVS.2010.5548096"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Oniga, F., and Nedevschi, S. (2010, January 19\u201322). Polynomial Curb Detection Based on Dense Stereovision for Driving Assistance. Madeira Island, Portugal.","DOI":"10.1109\/ITSC.2010.5625169"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Gallo, O., Manduchi, R., and Rafii, A. (2008, January 23\u201328). Robust Curb and Ramp Detection for Safe Parking Using the Canesta TOF Camera. Anchorage, AK, USA.","DOI":"10.1109\/CVPRW.2008.4563165"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"403","DOI":"10.1016\/j.patrec.2010.10.009","article-title":"CC-RANSAC: Fitting planes in the presence of multiple surfaces in range data","volume":"32","author":"Gallo","year":"2011","journal-title":"Pattern Recog. Lett."},{"key":"ref_14","unstructured":"Aufrere, R., Mertz, C., and Thorpe, C. (2003, January 9\u201311). Multiple Sensor Fusion for Detecting Location of Curbs, Walls, and Barriers. Columbus, OH, USA."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Siciliano, B., and Khatib, O. (2008). 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Telegrams for Configuring and Operating the LMS2xx Laser Measurement Systems, SICK."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/1\/1102\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:44:20Z","timestamp":1760219060000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/1\/1102"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,1,16]]},"references-count":18,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2013,1]]}},"alternative-id":["s130101102"],"URL":"https:\/\/doi.org\/10.3390\/s130101102","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,1,16]]}}}