Vehicle pose estimation with light detection and ranging (LiDAR) is essential in the perception technology of autonomous driving. However, because of incomplete observation measurements and sparsity of the LiDAR point cloud, it is challenging to achieve satisfactory pose extraction based on 3D LiDAR with the existing pose estimation methods. In addition, the demand for real-time performance further increases the difficulty of the pose estimation task. In this paper, we propose a novel vehicle pose estimation method based on the convex hull. The extracted 3D cluster is reduced to the convex hull, reducing the subsequent computation burden while preserving essential contour information. Subsequently, a novel criterion based on the minimum occlusion area is developed for the search-based algorithm, enabling accurate pose estimation. Additionally, this criterion renders the proposed algorithm particularly well-suited for obstacle avoidance. The proposed algorithm is validated on the KITTI dataset and a manually labeled dataset acquired at an industrial park. The results demonstrate that our proposed method can achieve better accuracy than the classical pose estimation method while maintaining real-time speed.


    Access

    Download

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Efficient Convex-Hull-Based Vehicle Pose Estimation Method for 3D LiDAR


    Additional title:

    Transportation Research Record: Journal of the Transportation Research Board


    Contributors:
    Ding, Ningning (author) / Ming, Ruihao (author) / Wang, Bo (author)


    Publication date :

    2024-06-06




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Method for vehicle pose estimation using LiDAR

    PARK TAE HYOUNG / JO JUN HYEONG | European Patent Office | 2018

    Free access

    Method for vehicle pose estimation using LiDAR

    European Patent Office | 2018

    Free access

    LiDAR pose estimation for vehicle safety systems

    Britt,J. / Bevly,D. / Auburn Univ.,Alabama,US | Automotive engineering | 2010


    LiDAR Pose Estimation for Vehicle Safety Systems

    Bevly, David / Britt, Jordan Hugh | SAE Technical Papers | 2010


    LIDAR-BASED MULTI-PERSON POSE ESTIMATION

    WALLIN ANDREAS / DING SIHAO | European Patent Office | 2020

    Free access