Robust vehicle detection using 3D Lidar under complex urban environment

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2014, Pages 691-696

  Cheng, Jian ^a   Xiang, Zhiyu ^a   Cao, Teng ^a   Liu, Jilin ^a  

^a ZHEJIANG UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

OPTICAL RADAR; URBAN PLANNING;

AUTONOMOUS VEHICLES; CLASSIFICATION TASKS; COMPLEX URBAN ENVIRONMENTS; FEATURE EXTRACTION STAGES; REFLECTIVE INTENSITY; SEGMENTATION METHODS; URBAN ENVIRONMENTS; VEHICLE DETECTION;

VEHICLES;

EID: 84929151124     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2014.6906929     Document Type: Conference Paper

References (17)

1. T. Luettel, M. Himmelsbach, and H.-J. Wuensche. "Autonomous ground vehicles: Concepts and a path to the future". Proceedings of the IEEE, 100(Special Centennial Issue):1831-1839, 13 2012.
2. Michael Montemerlo, Jan Becker, Suhrid Bhat, Hendrik Dahlkamp and Dmitri Dolgov, Scott Ettinger and Dirk Haehnel, "junior: The Stanford Entry in the Urban Challenge, "Journal of field robotics, pages 569C597, 2008.
3. Huijing Zhao, Quanshi Zhang, Masaki Chiba, RyosukeShibasaki, Jinshi Cui, Hongbin Zha, "Moving Object Classification using Horizontal Laser Scan Data," 2009 IEEE International Conference on Robotics and Automation, pages 2424-2430, 2009.
4. Luis E. Navarro-Serment, Christoph Mertz, and Martial Hebert, "Pedestrian Detection and Tracking Using Three-dimensional LADAR Data", 2011 The International Journal of Robotics, pages 1516-1527
5. Nicolai Wojke, Marcel Häselich, Active Vision Group, AGAS Robotics," Moving Vehicle Detection and Tracking in Unstructured Environments", 2012 IEEE International Conference on Robotics and Automation, pages 3082-3087
6. Anna Petrovskaya and Sebastian Thrun, "Model based vehicle detection and tracking for autonomous urban driving", Auton Robot (2009) 26: 123-139
7. Asma Azim and Olivier Aycard," Detection, Classification and Tracking of Moving Objects in a 3D Environment", 2012 Intelligent Vehicles Symposium, Alcalá de Henares, Spain, June 3-7, pages 802-807, 2012
8. S. Thrun, "Learning occupancy grid maps with forward sensor models," Auton. Robots, vol. 15, no. 2, pp. 111-127, 2003.
9. Luciano Spinello, Kai O. Arras Rudolph Triebel Roland Siegwart, "A Layered Approach to People Detection in 3D Range Data," Proceedings of the Twenty-Fourth AAAI Conference on Artificial Intelligence (AAAI-10), pages 1625-1630, 2010.
10. Kiyosumi Kidono, Takeo Miyasaka, Akihiro Watanabe, TakashiNaito and Jun Miura, "Pedestrian Recognition Using High-definition LIDAR", 2011 IEEE Intelligent Vehicles Symposium (IV) Baden-Baden, Germany, June 5-9, 2011, pages 405-410, 2011.
11. M. Himmelsbach and Felix v. Hundelshausen and H.-J. Wuensche, "Fast Segmentation of 3D Point Clouds for Ground Vehicles", 2010 IEEE Intelligent Vehicles Symposium University of California, San Diego, CA, USA, June 21-24, 2010
12. D. Morris, R. Hoffman, and S. McLean. Ladar-based vehicle detection and tracking in cluttered environments. In Proceedings of the 26th Army Science Conference, 2008.
13. Jean-Francois Lalonde, Nicolas Vandapel, ∗Daniel F. Huber, and Martial Hebert, "Natural Terrain Classification Using Three-Dimensional Ladar Data for Ground Robot Mobility", Journal of Field Robotics 23(10), 839C861 (2006)
14. M. Himmelsbach, T. Luettel, H.-J. Wuensche, "Real-time Object Classification in 3D Point Clouds Using Point FeatureHistograms"The2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 994-1000, 2009.
15. Yao W, Hinz S, Stilla U. Extraction and motion estimation of vehicles in single-pass airborne LiDAR data towards urban traffic analysis[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2011, 66(3): 260-271.
16. Chih Chung Chang and Chih-Jen Lin, "LIBSVM: A Library for Support Vector Machines", Department of Computer Science National Taiwan University, Taipei, Taiwan, 2001.
17. D. Williams, Methods of Experimental Physics, Academic Press, vol. 13, 1976.