DocumentCode :
2914889
Title :
LIDAR based perception solution for autonomous vehicles
Author :
Domínguez, R. ; Onieva, E. ; Alonso, J. ; Villagra, J. ; González, C.
Author_Institution :
Center for Autom. & Robot., AUTOPIA Program, UPM, Madrid, Spain
fYear :
2011
fDate :
22-24 Nov. 2011
Firstpage :
790
Lastpage :
795
Abstract :
In this work, a solution for clustering and tracking obstacles in the area covered by a LIDAR sensor is presented. It is based on a combination of simple artificial intelligence techniques and it is conceived as an initial version of a detection and tracking system for objects of any shape that an autonomous vehicle might find in its surroundings. The proposed solution divides the problem into three consecutive phases: 1) segmentation, 2) fragmentation detection and clustering and 3) tracking. The work done has been tested with real world LIDAR scan samples taken from an instrumented vehicle.
Keywords :
artificial intelligence; image segmentation; object detection; object tracking; optical radar; optical sensors; pattern clustering; road vehicles; LIDAR based perception solution; LIDAR scan sample; LIDAR sensor; artificial intelligence technique; autonomous vehicle; fragmentation detection; instrumented vehicle; objects detection system; objects tracking system; obstacles clustering; obstacles tracking; Cameras; Clustering algorithms; Intelligent systems; Laser radar; Shape; Tracking; Vehicles; Object detection; laser ranging segmentation; road safety; tracking; vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Systems Design and Applications (ISDA), 2011 11th International Conference on
Conference_Location :
Cordoba
ISSN :
2164-7143
Print_ISBN :
978-1-4577-1676-8
Type :
conf
DOI :
10.1109/ISDA.2011.6121753
Filename :
6121753
Link To Document :
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