Tokgoz, M.E.Yusefi, A.Toy, I.Durdu, A.2024-06-012024-06-0120249798350329940https://doi.org/10.1109/INFOTEH60418.2024.10495979https://hdl.handle.net/20.500.13091/5615Digitalni ozon Banja Luka;DWELT Software Banja Luka;et al.;MTEL Banja Luka;Municipality of East Ilidza;Municipality of East Stari Grad23rd International Symposium INFOTEH-JAHORINA, INFOTEH 2024 -- 20 March 2024 through 22 March 2024 -- 199053In this study, a method utilizing a 3D LiDAR(Light Detection and Ranging) sensor for mapping and obstacle detection in autonomous vehicles has been developed. The LiDAR sensor employs laser beams to detect the positions and distances of surrounding objects. Data from the LiDAR were processed to generate 2D maps from the 3D point cloud. During this process, obstacles within the vehicle's navigable height range, as well as those that wouldn't impede its movement were identified. Using a filtering method, points outside of these obstacles were removed to create a map. In experimental studies, it was observed that the developed method can accurately detect challenging obstacles such as fences made of thin wires. Consequently, it is evident that this method holds the potential to offer more reliable and safe obstacle detection for autonomous vehicles. © 2024 IEEE.eninfo:eu-repo/semantics/closedAccess3D Point cloudAutonomous vehiclesLiDARMappingObstacle detectionLaser beamsMappingObstacle detectorsOptical radar3D point cloudAutonomous VehiclesDetection sensorsFiltering methodLight detection and rangingMapping techniquesObstacles detectionRanging sensorsThin wiresAutonomous vehiclesConference Object10.1109/INFOTEH60418.2024.104959792-s2.0-85192207978