Systems and methods of detecting and tracking a pole-shaped object proximate to a vehicle comprise down-sampling three-dimensional (3D) light detection and ranging (LIDAR) point cloud data for each of a plurality of frames according to a user-configurable voxel size, filtering the down-sampled 3D LIDAR point cloud data to remove data points corresponding to ground surface reflections, dividing the 3D LIDAR point cloud data into a plurality of clusters that are parallel to the vehicle's moving direction, projecting the plurality of clusters to a plane that is parallel to sides of the vehicle to generate an image, detecting a pole-shaped object in the image, and tracking the pole-shaped object by deep sorting across multiple frames of the plurality of frames.
Detection and tracking of road-side pole-shaped static objects from LIDAR point cloud data
2022-07-19
Patent
Electronic Resource
English
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06K Erkennen von Daten , RECOGNITION OF DATA / G06V |
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