3d - lidar测量中车辆轮廓轮廓的确定

2011 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2011-06-05 DOI:10.1109/IVS.2011.5940498

Philipp Steinemann, J. Klappstein, J. Dickmann, Hans-Joachim Wünsche, F. V. Hundelshausen

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引用次数: 7

摘要

提出了一种在三维激光雷达测量中确定车辆轮廓线的新颖、鲁棒的方法。为了计算轮廓线，车辆的几何特性被描述。这些属性被用作约束条件，以使表面适合无序、分散和受误差污染的三维测量。该曲面可用于计算相应的二维轮廓线。该算法在两种不同的激光扫描仪上进行了测试。一个扫描仪有64层，其他只有4层。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Determining the outline contour of vehicles in 3D-LIDAR-measurements

This paper presents a novel and robust method to determine the outline contour of vehicles in 3D-LIDAR (Light Detection and Ranging) measurements. To calculate the outline contour, a vehicle is described by its geometrical properties. These properties are used as constraints to fit a surface to unordered, scattered and error-contaminated 3D measurements. The surface can be used to calculate a corresponding 2D outline contour. The algorithm is tested with two different laser scanners. One scanner has 64, the other only 4 layers.

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2011 IEEE Intelligent Vehicles Symposium (IV)

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