Present object detection methods working on 3D range data are so far either optimized for unstructured offroad environments or flat urban environments. We present a fast algorithm able to deal with tremendous amounts of 3D Lidar measurements. It uses a graph-based approach to segment ground and objects from 3D lidar scans using a novel unified, generic criterion based on local convexity measures. Experiments show good results in urban environments including smoothly bended road surfaces.
Segmentation of 3D lidar data in non-flat urban environments using a local convexity criterion
2009 IEEE Intelligent Vehicles Symposium ; 215-220
2009-06-01
3080046 byte
Conference paper
Electronic Resource
English
Segmentation of 3D Lidar Data in Non-flat Urban Environments Using a Local Convexity Criterion
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