Title :
Determining the outline contour of vehicles in 3D-LIDAR-measurements
Author :
Steinemann, P. ; Klappstein, J. ; Dickmann, J. ; Wünsche, H. -J ; Hundelshausen, F.V.
Author_Institution :
Dept. for Environ. Perception, Res. & Adv. Eng., Daimler AG, Ulm, Germany
Abstract :
This paper presents a novel and robust method to determine the outline contour of vehicles in 3D-LIDAR (Light Detection and Ranging) measurements. To calculate the outline contour, a vehicle is described by its geometrical properties. These properties are used as constraints to fit a surface to unordered, scattered and error-contaminated 3D measurements. The surface can be used to calculate a corresponding 2D outline contour. The algorithm is tested with two different laser scanners. One scanner has 64, the other only 4 layers.
Keywords :
measurement by laser beam; optical radar; optical scanners; road vehicles; 3D light detection and ranging measurement; 3D-LIDAR-measurement; error-contaminated 3D measurement; laser scanner; scattered 3D measurement; vehicle outline contour; Equations; Mathematical model; Measurement by laser beam; Rotation measurement; Shape; Three dimensional displays; Vehicles;
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2011 IEEE
Conference_Location :
Baden-Baden
Print_ISBN :
978-1-4577-0890-9
DOI :
10.1109/IVS.2011.5940498
