LIDAR based perception solution for autonomous vehicles

In this work, a solution for clustering and tracking obstacles in the area covered by a LIDAR sensor is presented. It is based on a combination of simple artificial intelligence techniques and it is conceived as an initial version of a detection and tracking system for objects of any shape that an a...

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Bibliographic Details
Published in2011 11th International Conference on Intelligent Systems Design and Applications pp. 790 - 795
Main Authors Dominguez, R., Onieva, E., Alonso, J., Villagra, J., Gonzalez, C.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.11.2011
Subjects
Cameras
Clustering algorithms
Intelligent systems
Laser radar
laser ranging segmentation
Object detection
road safety
Shape
Tracking
Vehicles
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ISSN2164-7143
DOI10.1109/ISDA.2011.6121753

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Summary:In this work, a solution for clustering and tracking obstacles in the area covered by a LIDAR sensor is presented. It is based on a combination of simple artificial intelligence techniques and it is conceived as an initial version of a detection and tracking system for objects of any shape that an autonomous vehicle might find in its surroundings. The proposed solution divides the problem into three consecutive phases: 1) segmentation, 2) fragmentation detection and clustering and 3) tracking. The work done has been tested with real world LIDAR scan samples taken from an instrumented vehicle.
ISSN:2164-7143
DOI:10.1109/ISDA.2011.6121753