Circle detection in single-layer laser scans for roundabout perception

This work presents a circle detection algorithm for the purpose of detecting roundabout central islands in single-layer laser scans. The algorithm is robust against measurement errors and imperfections of the central island's circular form and it can be used for laser scanners with only a few vertical layers. Main features of the algorithm are the semi-convex segmentation and curvature-based segmentation steps and the use of an a priori digital map to classify the detected circles. Experimental results show that, based on its performance, the method can be integrated in a real-time online roundabout perception system for highly automated vehicles.