3-D Point Cloud Map Compression for Connected Intelligent Vehicles

IF 3.7 4区计算机科学 Q1 COMPUTER SCIENCE, SOFTWARE ENGINEERING

IEEE Internet Computing Pub Date : 2023-12-15 DOI:10.1109/mic.2023.3342793

Youngjoon Choi, Hannah Baek, Jinseop Jeong, Kanghee Kim

引用次数: 0

Abstract

In autonomous vehicles, 3-D point cloud (PCD) maps are widely employed. By matching a point cloud acquired from a 3-D ranging sensor in real time with the PCD map, the ego vehicle can be localized with high accuracy. However, the PCD maps must be compressed and customized to the vehicles because they typically have low computing power, a small memory space, and low-resolution sensors. In this study, we propose an edge service of PCD map compression for connected intelligent vehicles. We overview a general path-aware map compression framework and propose a novel compression method to combine voxelization and a notion of localizability at every waypoint on target paths. Experimental results show that the proposed compression significantly reduces the computational cost at both the edge server and the vehicle while satisfying a required localization performance level.

查看原文本刊更多论文

用于互联智能汽车的三维点云地图压缩技术

在自动驾驶汽车中，三维点云（PCD）地图被广泛应用。通过将三维测距传感器实时获取的点云与 PCD 地图进行匹配，可以高精度地定位自我车辆。然而，由于车辆通常计算能力低、内存空间小、传感器分辨率低，因此必须对 PCD 地图进行压缩并根据车辆进行定制。在本研究中，我们提出了一种面向联网智能车辆的 PCD 地图压缩边缘服务。我们概述了一般路径感知地图压缩框架，并提出了一种新颖的压缩方法，将目标路径上每个航点的体素化和可定位性概念结合起来。实验结果表明，所提出的压缩方法大大降低了边缘服务器和车辆的计算成本，同时满足了所需的定位性能水平。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE Internet Computing 工程技术-计算机：软件工程

CiteScore

7.60

自引率

0.00%

发文量

审稿时长

6-12 weeks

期刊介绍： This magazine provides a journal-quality evaluation and review of Internet-based computer applications and enabling technologies. It also provides a source of information as well as a forum for both users and developers. The focus of the magazine is on Internet services using WWW, agents, and similar technologies. This does not include traditional software concerns such as object-oriented or structured programming, or Common Object Request Broker Architecture (CORBA) or Object Linking and Embedding (OLE) standards. The magazine may, however, treat the intersection of these software technologies with the Web or agents. For instance, the linking of ORBs and Web servers or the conversion of KQML messages to object requests are relevant technologies for this magazine. An article strictly about CORBA would not be. This magazine is not focused on intelligent systems. Techniques for encoding knowledge or breakthroughs in neural net technologies are outside its scope, as would be an article on the efficacy of a particular expert system. Internet Computing focuses on technologies and applications that allow practitioners to leverage off services to be found on the Internet.