DocumentCode
2012345
Title
Efficient segmentation of 3D LIDAR point clouds handling partial occlusion
Author
Aue, Jan ; Langer, Dirk ; Müller-Bessler, Bernhard ; Huhnke, Burkhard
Author_Institution
Electron. Res. Lab., Volkswagen Group of America, Inc., Belmont, CA, USA
fYear
2011
fDate
5-9 June 2011
Firstpage
423
Lastpage
428
Abstract
This paper presents a novel approach to segmentation of a dense 3D point cloud, generated by a flash lidar type camera. Incorporating symmetries of the sensor, the algorithm is using a 2D grid approach to cluster data points and extrude object segments in complex scenes. The data representation allows for the handling of partially occluded, but connected objects at different ranges. The algorithm was tested on a variety of different sensor data sets and the obtained results are presented and discussed.
Keywords
computer graphics; data structures; image segmentation; optical radar; 2D grid approach; 3D LIDAR point cloud segmentation; complex scenes; data point cluster; data representation; flash lidar type camera; object segments; partial occlusion; sensor data sets; Clustering algorithms; Image segmentation; Laser radar; Lasers; Pixel; Robot sensing systems; Three dimensional displays;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium (IV), 2011 IEEE
Conference_Location
Baden-Baden
ISSN
1931-0587
Print_ISBN
978-1-4577-0890-9
Type
conf
DOI
10.1109/IVS.2011.5940442
Filename
5940442
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