3D Fast Object Detection Based on Discriminant Images and Dynamic Distance Threshold Clustering.

ABSTRACT: The object detection algorithm based on vehicle-mounted lidar is a key component of the perception system on autonomous vehicles. It can provide high-precision and highly robust obstacle information for the safe driving of autonomous vehicles. However, most algorithms are often based on a large amount of point cloud data, which makes real-time detection difficult. To solve this problem, this paper proposes a 3D fast object detection method based on three main steps: First, the ground segmentation by discriminant image (GSDI) method is used to convert point cloud data into discriminant images for ground points segmentation, which avoids the direct computing of the point cloud data and improves the efficiency of ground points segmentation. Second, the image detector is used to generate the r

SUBMITTER: Chen B 

PROVIDER: S-EPMC7766091 | biostudies-literature | 2020 Dec

REPOSITORIES: biostudies-literature