Detection method and system for a mobile object

Abstract

A method of detecting a raised boundary of a routeway for a mobile objectis disclosed herein. In a specific embodiment, the method comprises receiving LiDAR data of an environment of the mobile object captured by a LiDAR devicethe LiDAR data comprising a plurality of beams, each beam comprising a plurality of projected points each captured according to a common pitch angle of the LiDAR deviceidentifying a plurality of break points, each break point of the plurality of break points being in a linearityof consecutive projected points of at least one beam from the plurality of beams; and locating edge points of the raised boundary from the plurality of identified break points. A system for detecting a raised boundary of a routeway for a mobile objectis also disclosed herein.