The perceptual information acquired by a single vehicle-side LiDAR in autonomous driving is limited, and this phenomenon is more prominent at intersections where vehicles are turning. Existing solutions improve vehicle perception by designing complex systems to match homogeneous point clouds acquired by the same type of sensors. In this study, we propose a heterogeneous point cloud registration for vehicle-infrastructure collaboration (HPCR-VI) that supplements the missing sensory information of the vehicle-side mechanical LiDAR with the point cloud information acquired by the infrastructure-side solid-state LiDAR. The HPCR-VI framework proposed in this paper breaks the limitation of homogeneous point cloud registration and can quickly obtain alignment results from two frames of heterogeneous point clouds, whose densities and viewing angles differ greatly, solving the heterogeneous point cloud registration problem where traditional point cloud alignment methods fail. Our proposed method is tested on the DAIR-V2X dataset, and the success rate of alignment is 40-50 points higher than that of the baseline method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    HPCR-VI: Heterogeneous point cloud registration for vehicle-infrastructure collaboration


    Beteiligte:
    Zhao, Yuting (Autor:in) / Zhang, Xinyu (Autor:in) / Zhang, Shiyan (Autor:in) / Qiu, Shaoting (Autor:in) / Yin, Haojie (Autor:in) / Zhang, Xu (Autor:in)


    Erscheinungsdatum :

    04.06.2023


    Format / Umfang :

    4247206 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Investigations of Pollutant Formation and Emissions from HPCR Diesel Engines

    Shayler, P. | British Library Conference Proceedings | 2006


    2007-01-0972 Accelerometer Based Sensing of Combustion in a High Speed HPCR Diesel Engine

    Polonowski, C. J. / Mathur, V. K. / Naber, J. D. et al. | British Library Conference Proceedings | 2007


    Impacts of Biodiesel Blends on Fuel Filters of High Pressure Common Rail (HPCR) System

    Tang, Ta-Wei / Ku, Yong-Yuan / Chen, Chun Lin | British Library Conference Proceedings | 2016


    Vehicle taking method based on vehicle-infrastructure cooperation and vehicle-infrastructure cooperation cloud

    LI CHENGJU / YI JIAZHENG / SANG SHENGZHAO | Europäisches Patentamt | 2024

    Freier Zugriff

    HD2Reg: Hierarchical Descriptors and Detectors for Point Cloud Registration

    Tang, Canhui / Li, Yiheng / Du, Shaoyi et al. | IEEE | 2023