3D object detection from roadside data using laser scanners
3D object detection from roadside data using laser scanners
复制标题
使用激光扫描仪从路边数据中检测 3D 物体
DOI：
10.1117/12.872620
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
A. Zakhor
中科院分区：
文献类型：
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作者：
Jimmy Tang;A. Zakhor
通过装备有测距设备的车辆检测给定道路路径上的物体对于许多民用和军用应用（例如自主导航系统中的避障）是重要的。在这篇论文中，我们开发了一种方法来检测一个特定大小的物体躺在道路上使用的采集车配备了前视光探测和范围（LiDAR）传感器和惯性导航系统。我们使用GPS数据来准确地将LiDAR点放置在世界地图中，提取从道路突出的点云集群，并使用加权随机森林树来检测感兴趣的对象。我们表明，我们提出的方法是有效的，在识别对象的几个道路数据集收集不同的对象位置和车辆速度。
The detection of objects on a given road path by vehicles equipped with range measurement devices is important to many civilian and military applications such as obstacle avoidance in autonomous navigation systems. In this thesis, we develop a method to detect objects of a specific size lying on a road using an acquisition vehicle equipped with forward looking Light Detection And Range (LiDAR) sensors and inertial navigation system. We use GPS data to accurately place the LiDAR points in a world map, extract point cloud clusters protruding from the road, and detect objects of interest using weighted random forest trees. We show that our proposed method is effective in identifying objects for several road datasets collected with various object locations and vehicle speeds.