{"title":"面向自动驾驶的3D LiDAR点云地距分割","authors":"Jian Wu, Qingxiong Yang","doi":"10.1017/ATSIP.2020.21","DOIUrl":null,"url":null,"abstract":"In this paper, we study the semantic segmentation of 3D LiDAR point cloud data in urban environments for autonomous driving, and a method utilizing the surface information of the ground plane was proposed. In practice, the resolution of a LiDAR sensor installed in a self-driving vehicle is relatively low and thus the acquired point cloud is indeed quite sparse. While recent work on dense point cloud segmentation has achieved promising results, the performance is relatively low when directly applied to sparse point clouds. This paper is focusing on semantic segmentation of the sparse point clouds obtained from 32-channel LiDAR sensor with deep neural networks. The main contribution is the integration of the ground information which is used to group ground points far away from each other. Qualitative and quantitative experiments on two large-scale point cloud datasets show that the proposed method outperforms the current state-of-the-art.","PeriodicalId":44812,"journal":{"name":"APSIPA Transactions on Signal and Information Processing","volume":" ","pages":""},"PeriodicalIF":3.2000,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1017/ATSIP.2020.21","citationCount":"2","resultStr":"{\"title\":\"Ground-distance segmentation of 3D LiDAR point cloud toward autonomous driving\",\"authors\":\"Jian Wu, Qingxiong Yang\",\"doi\":\"10.1017/ATSIP.2020.21\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we study the semantic segmentation of 3D LiDAR point cloud data in urban environments for autonomous driving, and a method utilizing the surface information of the ground plane was proposed. In practice, the resolution of a LiDAR sensor installed in a self-driving vehicle is relatively low and thus the acquired point cloud is indeed quite sparse. While recent work on dense point cloud segmentation has achieved promising results, the performance is relatively low when directly applied to sparse point clouds. This paper is focusing on semantic segmentation of the sparse point clouds obtained from 32-channel LiDAR sensor with deep neural networks. The main contribution is the integration of the ground information which is used to group ground points far away from each other. Qualitative and quantitative experiments on two large-scale point cloud datasets show that the proposed method outperforms the current state-of-the-art.\",\"PeriodicalId\":44812,\"journal\":{\"name\":\"APSIPA Transactions on Signal and Information Processing\",\"volume\":\" \",\"pages\":\"\"},\"PeriodicalIF\":3.2000,\"publicationDate\":\"2020-11-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://sci-hub-pdf.com/10.1017/ATSIP.2020.21\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"APSIPA Transactions on Signal and Information Processing\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1017/ATSIP.2020.21\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"Computer Science\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"APSIPA Transactions on Signal and Information Processing","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1017/ATSIP.2020.21","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"Computer Science","Score":null,"Total":0}
Ground-distance segmentation of 3D LiDAR point cloud toward autonomous driving
In this paper, we study the semantic segmentation of 3D LiDAR point cloud data in urban environments for autonomous driving, and a method utilizing the surface information of the ground plane was proposed. In practice, the resolution of a LiDAR sensor installed in a self-driving vehicle is relatively low and thus the acquired point cloud is indeed quite sparse. While recent work on dense point cloud segmentation has achieved promising results, the performance is relatively low when directly applied to sparse point clouds. This paper is focusing on semantic segmentation of the sparse point clouds obtained from 32-channel LiDAR sensor with deep neural networks. The main contribution is the integration of the ground information which is used to group ground points far away from each other. Qualitative and quantitative experiments on two large-scale point cloud datasets show that the proposed method outperforms the current state-of-the-art.