The purpose of environment perception for autonomous vehicle is to get the entire information around the ego-vehicle and understand the environment where the autonomous vehicle runs. In this paper, we attempt to rebuild a 3D environment for the autonomous vehicle using the vehicle mounted cameras. First, we generate the continuous 3D point clouds with the vehicle moving. Then we stitch the continuous point clouds by using the image feature matching constraint and scores. At last, we obtained an accuracy and efficiency point cloud of the environment. After the numerical experiments, the proposed stitching algorithm has been verified that the MSE is lower than the average of other algorithms. And the number of points decreases than the conventional algorithm.
Continuous Point Cloud Stitch based on Image Feature Matching Constraint and Score*
2018 IEEE Intelligent Vehicles Symposium (IV) ; 1736-1741
01.06.2018
1533698 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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