Fusion of 3D laser scanner and depth images for obstacle recognition in mobile applications

Budzan, Sebastian; Kasprzyk, Jerzy

doi:10.1016/j.optlaseng.2015.09.003

Cited by 41 publications

(23 citation statements)

References 24 publications

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“…MLS can be combined with other data information to address this issue. The fusion of 3D point clouds and 2D images can be applied for the semantic segmentation of large-scale urban scenes, obstacle recognition, road detection, and autonomous vehicle driving [19,97,[140][141][142]. There are different levels of data integration for MLS point clouds and other data sources in Table 2.…”

Section: Data Integrationmentioning

confidence: 99%

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A Survey of Mobile Laser Scanning Applications and Key Techniques over Urban Areas

et al. 2019

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Urban planning and management need accurate three-dimensional (3D) data such as light detection and ranging (LiDAR) point clouds. The mobile laser scanning (MLS) data, with up to millimeter-level accuracy and point density of a few thousand points/m2, have gained increasing attention in urban applications. Substantial research has been conducted in the past decade. This paper conducted a comprehensive survey of urban applications and key techniques based on MLS point clouds. We first introduce the key characteristics of MLS systems and the corresponding point clouds, and present the challenges and opportunities of using the data. Next, we summarize the current applications of using MLS over urban areas, including transportation infrastructure mapping, building information modeling, utility surveying and mapping, vegetation inventory, and autonomous vehicle driving. Then, we review common key issues for processing and analyzing MLS point clouds, including classification methods, object recognition, data registration, data fusion, and 3D city modeling. Finally, we discuss the future prospects for MLS technology and urban applications.

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Section: Data Integrationmentioning

confidence: 99%

“…The accuracy of results is usually not very high. [32,76,88,97,139,141,143] Medium First, processing one data source to obtain useful features or background knowledge. Then, based on this computed information, analyzing the other data to classify or extract final results.…”

Section: Data Integrationmentioning

confidence: 99%

A Survey of Mobile Laser Scanning Applications and Key Techniques over Urban Areas

et al. 2019

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“…vision cameras are used in Yankun et al 26 or laser range scanners in Budzan and Kasprzyk. 27 However, the typical Skyhook algorithm is favoured for its robustness and reliability.…”

Section: Introductionmentioning

confidence: 99%

Experimental attenuation and evaluation of whole body vibration for an off-road vehicle with magnetorheological dampers

Krauze

Kasprzyk

Rzepecki

2018

Journal of Low Frequency Noise, Vibration and Active Control

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The paper presents an analysis of vehicle vibration, ride comfort and handling which have a decisive influence on health and safety of a driver. Experiments were carried out for a commercially available experimental all-terrain vehicle in the field in hard conditions with retaining the sufficient repeatability. The vehicle is equipped with a complex vibration control system, taking advantage of four automotive magnetorheological dampers. Numerous sensors, which measure acceleration in four points of the vehicle body, near the driver's seat, feet and hands, body orientation in space and speed of vehicle wheels, are available in the vehicle. They were used for evaluation of magnetorheological dampers' control signals and analysis of vibration affecting the driver. Constant values of magnetorheological damper control current were used for emulation of different settings of passive suspension. The analysis performed in frequency domain showed how vibration propagates in a medium-sized all-terrain vehicle and indicated that driver's hands are mostly affected by the road-induced vibration. It was also confirmed that the greatest improvement of ride comfort can be obtained for the soft suspension, i.e. uncontrolled magnetorheological dampers. Furthermore, the Skyhook algorithm was implemented, including the proportional control of the magnetorheological damper force and the inverse Tanh model of the magnetorheological damper. It was validated for the wideband road-induced excitation contrary to the experiments commonly presented in the literature, which are performed only for harmonic excitation. It was shown that the properly tuned Skyhook algorithm enables improving vehicle handling compared to the passive suspension and simultaneously it can maintain the similar or even better results of ride comfort.

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“…It can be obtained using specialized vision systems or laser scanners aimed in front of the vehicle. These devices are expensive and measurements are subjected to different disturbances or distortions; for example, quality of the information depends on lighting conditions [18]. Thus, they require sophisticated algorithms of measurement data processing [19].…”

Section: Introductionmentioning

confidence: 99%

Mixed Skyhook and FxLMS Control of a Half-Car Model with Magnetorheological Dampers

Krauze

Kasprzyk

2016

Advances in Acoustics and Vibration

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The problem of vibration attenuation in a semiactive vehicle suspension is considered. The proposed solution is based on usage of the information about the road roughness coming from the sensor installed on the front axle of the vehicle. It does not need any preview sensor to measure the road roughness as other preview control strategies do. Here, the well-known Skyhook algorithm is used for control of the front magnetorheological (MR) damper. This algorithm is tuned to a quarter-car model of the front part of the vehicle. The rear MR damper is controlled by the FxLMS (Filtered-x LMS) taking advantage of the information about the motion of the front vehicle axle. The goal of this algorithm is to minimize pitch of the vehicle body. The strategy is applied for a fourdegree-of-freedom (4-DOF) vehicle model equipped with magnetorheological dampers which were described using the Bouc-Wen model. The suspension model was subjected to the road-induced excitation in the form of a series of bumps within the frequency range 1.0-10 Hz. Different solutions are compared based on the transmissibility function and simulation results show the usefulness of the proposed solution.

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Fusion of 3D laser scanner and depth images for obstacle recognition in mobile applications

Cited by 41 publications

References 24 publications

A Survey of Mobile Laser Scanning Applications and Key Techniques over Urban Areas

A Survey of Mobile Laser Scanning Applications and Key Techniques over Urban Areas

Experimental attenuation and evaluation of whole body vibration for an off-road vehicle with magnetorheological dampers

Mixed Skyhook and FxLMS Control of a Half-Car Model with Magnetorheological Dampers

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