27 January 2011 3D object detection from roadside data using laser scanners
Author Affiliations +
The detection of objects on a given road path by vehicles equipped with range measurement devices is important to many civilian and military applications such as obstacle avoidance in autonomous navigation systems. In this thesis, we develop a method to detect objects of a specific size lying on a road using an acquisition vehicle equipped with forward looking Light Detection And Range (LiDAR) sensors and inertial navigation system. We use GPS data to accurately place the LiDAR points in a world map, extract point cloud clusters protruding from the road, and detect objects of interest using weighted random forest trees. We show that our proposed method is effective in identifying objects for several road datasets collected with various object locations and vehicle speeds.
© (2011) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jimmy Tang, Jimmy Tang, Avideh Zakhor, Avideh Zakhor, "3D object detection from roadside data using laser scanners", Proc. SPIE 7864, Three-Dimensional Imaging, Interaction, and Measurement, 78640V (27 January 2011); doi: 10.1117/12.872620; https://doi.org/10.1117/12.872620


Ladar-based IED detection
Proceedings of SPIE (May 28 2014)
Performance of a compact elastic 355 nm airborne lidar in...
Proceedings of SPIE (October 23 2016)

Back to Top