3,089 research outputs found
CNN for Very Fast Ground Segmentation in Velodyne LiDAR Data
This paper presents a novel method for ground segmentation in Velodyne point
clouds. We propose an encoding of sparse 3D data from the Velodyne sensor
suitable for training a convolutional neural network (CNN). This general
purpose approach is used for segmentation of the sparse point cloud into ground
and non-ground points. The LiDAR data are represented as a multi-channel 2D
signal where the horizontal axis corresponds to the rotation angle and the
vertical axis the indexes channels (i.e. laser beams). Multiple topologies of
relatively shallow CNNs (i.e. 3-5 convolutional layers) are trained and
evaluated using a manually annotated dataset we prepared. The results show
significant improvement of performance over the state-of-the-art method by
Zhang et al. in terms of speed and also minor improvements in terms of
accuracy.Comment: ICRA 2018 submissio
Enhancing Mobile Object Classification Using Geo-referenced Maps and Evidential Grids
Evidential grids have recently shown interesting properties for mobile object
perception. Evidential grids are a generalisation of Bayesian occupancy grids
using Dempster- Shafer theory. In particular, these grids can handle
efficiently partial information. The novelty of this article is to propose a
perception scheme enhanced by geo-referenced maps used as an additional source
of information, which is fused with a sensor grid. The paper presents the key
stages of such a data fusion process. An adaptation of conjunctive combination
rule is presented to refine the analysis of the conflicting information. The
method uses temporal accumulation to make the distinction between stationary
and mobile objects, and applies contextual discounting for modelling
information obsolescence. As a result, the method is able to better
characterise the occupied cells by differentiating, for instance, moving
objects, parked cars, urban infrastructure and buildings. Experiments carried
out on real- world data illustrate the benefits of such an approach.Comment: 6 pp. arXiv admin note: substantial text overlap with arXiv:1207.101
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