I. Introduction
Development of autonomous vehicle is increasing rapidly. Road detection is the most primary and important task for any autonomous vehicles. For a decade, most of the automotive companies has done research in Camera and Radar sensors for tasks such as road detection, object detection, corner detection and so on. Nowadays, most of the cars available in the market have camera sensors and assist the drivers for safe driving. In recent times, many famous car manufacturing companies like GM, Ford, Google, etc. are using LiDAR sensors in their cars and conducting various researches to make use of the sensor. It is because the LiDAR sensor provides a 360° Field Of View (FOV) and provides clear information during low light/night time.