计算机工程与应用2016，Vol.52Issue(24)：6-10,36,6.DOI:10.3778/j.issn.1002-8331.1604-0233
采用延伸顶点的地面点云实时提取算法
Real-time ground point clouds extraction algorithm using extended vertices
摘要
Abstract
A rapid ground point clouds extraction method using 3D-LIDAR is devised in view of the ground segmentation for autonomous vehicles in outdoor environments. First, the IMU and odometer are used to correct the distortion of LIDAR points. After that, those points are mapped to the polar grids and the extended vertices are extracted according to the consis-tency of those points in the vertical direction. Finally, all the points on the ground are obtained depending on the elevation of the extended vertices and the smooth of ground. The Velodyne HDL-32E is used to collect data under various scenarios to test the proposed algorithm. The results show that the proposed method works efficiently and it can great avoid over-segmentation and under-segmentation of ground. The segmentation accuracy is about 98.2% and the processing time per frame can stably control around 33 ms.关键词
无人驾驶车辆/地面点云提取/三维激光雷达/Velodyne/极坐标网格地图Key words
autonomous vehicle/ground point clouds extraction/3D-LIDAR/Velodyne/polar grid map分类
信息技术与安全科学引用本文复制引用
孙朋朋,闵海根,徐志刚,赵祥模..采用延伸顶点的地面点云实时提取算法[J].计算机工程与应用,2016,52(24):6-10,36,6.基金项目
国家自然科学基金(No.51278058) （No.51278058）
中央高校基本业务研究项目(No.310824160524,No.310822151125,No.310824163202, No.310824164006). （No.310824160524,No.310822151125,No.310824163202, No.310824164006）
