System Design for Static Objects Segmentation Technology Based on 3D LiDAR and Multi-View Depth Map

Abstract

Advanced Driver Assistance System (ADAS) and Artificial Intelligent (AI) are the important issue in recent years, autonomous car plays an important role in whole ADAS. To detect the environment surround the car, the sensor might be sensitive and immediate. LiDAR (Light Detection and Ranging) uses Laser to get the reflectivity from the surrounding objects. For clustering the objects with point cloud, the density of the point cloud still sparse, making the cluster result completely, we implement a system combines LiDAR and multi-view image, the depth image is generated by multi-view can help us to cluster the object in point cloud clearly. In addition, we use CORDIC (Coordinate Rotation Digital Computer) EEAS (Extended Elementary Angle Set) architecture to decode the package data that collected from Velodyne HDL-64E. By using the flow of digital chip design, we reduce the power consumption and accelerate the speed. The proposed system achieves 91.09% accuracy and the processing time is 0.757 second.