Multi-modal local terrain maps from vision and LiDAR

Jaspers, Hanno; Himmelsbach, Michael; Wuensche, Hans-Joachim

doi:10.1109/ivs.2017.7995863

Cited by 22 publications

(6 citation statements)

References 27 publications

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“…A grid cell is considered to be an obstacle cell if its min–max height difference is larger than

{T}_{h}

. Besides, the approach introduced in Jaspers et al (2017) is also utilized to remove overhanging structures from the point cloud.…”

Section: Methodsmentioning

confidence: 99%

Traversability analysis for autonomous driving in complex environment: A LiDAR‐based terrain modeling approach

Xue

Liang³

et al. 2023

Journal of Field Robotics

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For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR‐based terrain modeling approach, which could output stable, complete, and accurate terrain models and traversability analysis results. As terrain is an inherent property of the environment that does not change with different view angles, our approach adopts a multiframe information fusion strategy for terrain modeling. Specifically, a normal distributions transform mapping approach is adopted to accurately model the terrain by fusing information from consecutive LiDAR frames. Then the spatial‐temporal Bayesian generalized kernel inference and bilateral filtering are utilized to promote the stability and completeness of the results while simultaneously retaining the sharp terrain edges. Based on the terrain modeling results, the traversability of each region is obtained by performing geometric connectivity analysis between neighboring terrain regions. Experimental results show that the proposed method could run in real‐time and outperforms state‐of‐the‐art approaches.

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“…A grid cell is considered to be an obstacle cell if its min–max height difference is larger than

{T}_{h}

. Besides, the approach introduced in Jaspers et al (2017) is also utilized to remove overhanging structures from the point cloud.…”

Section: Methodsmentioning

confidence: 99%

Traversability analysis for autonomous driving in complex environment: A LiDAR‐based terrain modeling approach

Xue

Liang³

et al. 2023

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…Карта занятости [1] является одним из самых распространенных методов для построения модели проходимости и решения задачи автономного движения наземной РТП. Большинство методов используют лидар как единственный источник данных и рассчитаны на применение в беспилотном транспорте [2,3], в то время как подходы для небольших роботов чаще используют стереокамеры [4]. Для детекции динамических объектов в карте занятости, как правило, используются изображения c камер и нейросетевые подходы [5,6].…”

Section: Algorithm For Complexing Multiple Data Sources Into a Single Occupancy Mapunclassified

“…Ячейки с ненулевой скоростью помечаются динамическими ( ), при этом все ячейки объекта на динамической карте объединяются с помощью алгоритма связных компонент. Для заполнения накапливаемой карты используется дискретный фильтр Байеса [2], правила обновления отличаются для динамических ячеек (2):…”

Section: рис 12 общая схема алгоритмаunclassified

Algorithm for Complexing Multiple Data Sources Into a Single Occupancy Map

Shepel¹

2021

IZVESTIYA SFedU. ENGINEERING SCIENCES

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“…Bounding-box hypotheses are tracked over time [15]. Manz et al [16] and Jaspers et al [17] use elevation mapping techniques for road and ground surface estimation in rural environments. Jaspers et al also include information from the tracking system of Himmelsbach and Wünsche [15] to exclude moving parts from the mapping process.…”

Section: Overview Of Similar Workmentioning

confidence: 99%

A LiDAR-based real-time capable 3D Perception System for Automated Driving in Urban Domains

Rieken,

Maurer

2020

Preprint

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We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time conditions. Our approach extends the state of the art by innovative in-detail enhancements for perceiving road users and drivable corridors even in case of nonflat ground surfaces and overhanging or protruding elements. We describe a runtime-efficient pointcloud processing pipeline, consisting of adaptive ground surface estimation, 3D clustering and motion classification stages.Based on the pipeline's output, the stationary environment is represented in a multi-feature mapping and fusion approach. Movable elements are represented in an object tracking system capable of using multiple reference points to account for viewpoint changes. We further enhance the tracking system by explicit consideration of occlusion and ambiguity cases.Our system is evaluated using a subset of the TUBS Road User Dataset. We enhance common performance metrics by considering application-driven aspects of real-world traffic scenarios. The perception system shows impressive results and is able to cope with the addressed scenarios while still preserving real-time capability.

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Multi-modal local terrain maps from vision and LiDAR

Cited by 22 publications

References 27 publications

Traversability analysis for autonomous driving in complex environment: A LiDAR‐based terrain modeling approach

Traversability analysis for autonomous driving in complex environment: A LiDAR‐based terrain modeling approach

Algorithm for Complexing Multiple Data Sources Into a Single Occupancy Map

A LiDAR-based real-time capable 3D Perception System for Automated Driving in Urban Domains

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