What could move? Finding cars, pedestrians and bicyclists in 3D laser data

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2012, Pages 4038-4044

  Wang, Dominic Zeng ^a   Posner, Ingmar ^a   Newman, Paul ^a  

^a UNIVERSITY OF OXFORD   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

CLUSTERING ALGORITHMS; FOOTBRIDGES; PIPELINES;

AUTONOMOUS DRIVING; BACKGROUND CLUTTER; BINARY CLASSIFICATION; EDGE SELECTION; EUCLIDEAN MINIMUM SPANNING TREES; MULTI-CLASS PROBLEMS; SPECIFIC CLASS; URBAN STREETS;

TREES (MATHEMATICS);

EID: 84864427390     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2012.6224734     Document Type: Conference Paper

References (33)

1. M. McNaughton, C. Urmson, J. M. Dolan, and J.-W. Lee, "Motion planning for autonomous driving with a conformal spatiotemporal lattice," in Robotics and Automation (ICRA), 2011 IEEE International Conference on, may 2011, pp. 4889-4895.
2. J. Levinson, M. Montemerlo, and S. Thrun, "Map-Based Precision Vehicle Localization in Urban Environments," in Proceedings of Robotics: Science and Systems, Atlanta, GA, USA, June 2007.
3. A. Huang and S. Teller, "Probabilistic Lane Estimation using Basis Curves," in Proceedings of Robotics: Science and Systems, Zaragoza, Spain, June 2010.
4. S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffmann, K. Lau, C. Oakley, M. Palatucci, V. Pratt, P. Stang, S. Strohband, C. Dupont, L.-E. Jendrossek, C. Koelen, C. Markey, C. Rummel, J. van Niekerk, E. Jensen, P. Alessandrini, G. Bradski, B. Davies, S. Ettinger, A. Kaehler, A. Nefian, and P. Mahoney, "Stanley: The robot that won the DARPA Grand Challenge," Journal of Field Robotics, vol. 23, no. 9, pp. 661-692, 2006.
5. C. Urmson, J. Anhalt, D. Bagnell, C. Baker, R. Bittner, M. N. Clark, J. Dolan, D. Duggins, T. Galatali, C. Geyer, M. Gittleman, S. Harbaugh, M. Hebert, T. M. Howard, S. Kolski, A. Kelly, M. Likhachev, M. McNaughton, N. Miller, K. Peterson, B. Pilnick, R. Rajkumar, P. Rybski, B. Salesky, Y.-W. Seo, S. Singh, J. Snider, A. Stentz, W. R. Whittaker, Z. Wolkowicki, J. Ziglar, H. Bae, T. Brown, D. Demitrish, B. Litkouhi, J. Nickolaou, V. Sadekar, W. Zhang, J. Struble, M. Taylor, M. Darms, and D. Ferguson, "Autonomous driving in urban environments: Boss and the Urban Challenge," Journal of Field Robotics, vol. 25, no. 8, pp. 425-466, 2008.
6. N. Fairfield and C. Urmson, "Traffic light mapping and detection," in Robotics and Automation (ICRA), 2011 IEEE International Conference on, may 2011, pp. 5421-5426.
7. A. Teichman, J. Levinson, and S. Thrun, "Towards 3D object recognition via classification of arbitrary object tracks," in Robotics and Automation (ICRA), 2011 IEEE International Conference on, may 2011, pp. 4034-4041.
8. K. Lai, L. Bo, X. Ren, and D. Fox, "Sparse distance learning for object recognition combining RGB and depth information," in Robotics and Automation (ICRA), 2011 IEEE International Conference on, may 2011, pp. 4007-4013.
9. F. Endres, C. Plagemann, C. Stachniss, andW. Burgard, "Unsupervised discovery of object classes from range data using latent Dirichlet allocation," in Proceedings of Robotics: Science and Systems, Seattle, USA, June 2009.
10. A. Teichman and S. Thrun, "Tracking-Based Semi-Supervised Learning," in Proceedings of Robotics: Science and Systems, Los Angeles, CA, USA, June 2011.
11. B. Douillard, J. Underwood, N. Kuntz, V. Vlaskine, A. Quadros, P. Morton, and A. Frenkel, "On the segmentation of 3D LIDAR point clouds," in Robotics and Automation (ICRA), 2011 IEEE International Conference on, may 2011, pp. 2798-2805.
12. K. Klasing, D. Wollherr, and M. Buss, "A clustering method for efficient segmentation of 3D laser data," in Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, may 2008, pp. 4043-4048.
13. D. Anguelov, B. Taskarf, V. Chatalbashev, D. Koller, D. Gupta, G. Heitz, and A. Ng, "Discriminative learning of Markov random fields for segmentation of 3D scan data," in Computer Vision and Pattern Recognition, 2005. CVPR 2005. IEEE Computer Society Conference on, vol. 2, june 2005, pp. 169-176 vol. 2.
14. R. Triebel, J. Shin, and R. Siegwart, "Segmentation and Unsupervised Part-based Discovery of Repetitive Objects," in Proceedings of Robotics: Science and Systems, Zaragoza, Spain, June 2010.
15. L. Spinello, K. O. Arras, R. Triebel, and R. Siegwart, "A Layered Approach to People Detection in 3D Range Data." in Proc. of The AAAI Conference on Artificial Intelligence: Physically Grounded AI Track (AAAI), 2010.
16. R. Katz, J. Nieto, and E. Nebot, "Unsupervised classification of dynamic obstacles in urban environments," Journal of Field Robotics, vol. 27, no. 4, pp. 450-472, 2010.
17. S.-W. Yang and C.-C. Wang, "Simultaneous egomotion estimation, segmentation, and moving object detection," Journal of Field Robotics, vol. 28, no. 4, pp. 565-588, 2011.
18. C. M. Bishop, Pattern Recognition and Machine Learning (Information Science and Statistics). Secaucus, NJ, USA: Springer-Verlag New York, Inc., 2006.
19. R. Jenssen, I. Hild, K.E., D. Erdogmus, J. Principe, and T. Eltoft, "Clustering using Renyi's entropy," in Neural Networks, 2003. Proceedings of the International Joint Conference on, vol. 1, july 2003, pp. 523-528 vol.1.
20. R. O. Duda, P. E. Hart, and D. G. Stork, Pattern Classification (2nd Edition). Wiley-Interscience, 2000.
21. C. Zahn, "Graph-Theoretical Methods for Detecting and Describing Gestalt Clusters," Computers, IEEE Transactions on, vol. C-20, no. 1, pp. 68-86, jan. 1971.
22. T. Asano, B. Bhattacharya, M. Keil, and F. Yao, "Clustering algorithms based on minimum and maximum spanning trees," in Proceedings of the fourth annual symposium on Computational geometry, ser. SCG '88. New York, NY, USA: ACM, 1988, pp. 252-257.
23. O. Grygorash, Y. Zhou, and Z. Jorgensen, "Minimum Spanning Tree Based Clustering Algorithms," in Tools with Artificial Intelligence, 2006. ICTAI '06. 18th IEEE International Conference on, nov. 2006, pp. 73-81.
24. M. A. Fischler and R. C. Bolles, "Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography," Commun. ACM, vol. 24, pp. 381-395, June 1981.
25. K. Klasing, D. Althoff, D. Wollherr, and M. Buss, "Comparison of surface normal estimation methods for range sensing applications," in Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, may 2009, pp. 3206-3211.
26. P. F. Felzenszwalb and D. P. Huttenlocher, "Efficient Graph-Based Image Segmentation," Int. J. Comput. Vision, vol. 59, pp. 167-181, September 2004.
27. A. Johnson and M. Hebert, "Using spin images for efficient object recognition in cluttered 3D scenes," Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 21, no. 5, pp. 433-449, may 1999.
28. R. Osada, T. Funkhouser, B. Chazelle, and D. Dobkin, "Shape distributions," ACM Trans. Graph., vol. 21, pp. 807-832, October 2002.
29. C.-F. Westin, S. Peled, H. Gudbjartsson, R. Kikinis, and F. A. Jolesz, "Geometrical Diffusion Measures for MRI from Tensor Basis Analysis," in ISMRM '97, Vancouver Canada, April 1997, p. 1742.
30. M. Everingham, L. Van Gool, C. K. I. Williams, J. Winn, and A. Zisserman, "The Pascal Visual Object Classes (VOC) Challenge," International Journal of Computer Vision, vol. 88, no. 2, pp. 303-338, Jun. 2010.
31. R. Rusu and S. Cousins, "3D is here: Point Cloud Library (PCL)," in Robotics and Automation (ICRA), 2011 IEEE International Conference on, may 2011, pp. 1-4.
32. C.-C. Chang and C.-J. Lin, "LIBSVM: A library for support vector machines," ACM Trans. Intell. Syst. Technol., vol. 2, pp. 27:1-27:27, May 2011.
33. W. B. March, P. Ram, and A. G. Gray, "Fast euclidean minimum spanning tree: algorithm, analysis, and applications," in Proceedings of the 16th ACM SIGKDD international conference on Knowledge discovery and data mining, ser. KDD '10. New York, NY, USA: ACM, 2010, pp. 603-612.