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...

Full description

Saved in:
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
Online AccessGet full text
ISSN2164-7143
DOI10.1109/ISDA.2011.6121753

Cover

Abstract 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.
AbstractList 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.
Author Dominguez, R.
Gonzalez, C.
Onieva, E.
Alonso, J.
Villagra, J.
Author_xml – sequence: 1
  givenname: R.
  surname: Dominguez
  fullname: Dominguez, R.
  email: raul.dominguez@csic.es
  organization: Center for Autom. & Robot., AUTOPIA Program, UPM, Madrid, Spain
– sequence: 2
  givenname: E.
  surname: Onieva
  fullname: Onieva, E.
  email: enrique.onieva@csic.es
  organization: Center for Autom. & Robot., AUTOPIA Program, UPM, Madrid, Spain
– sequence: 3
  givenname: J.
  surname: Alonso
  fullname: Alonso, J.
  email: javier.alonso@csic.es
  organization: Center for Autom. & Robot., AUTOPIA Program, UPM, Madrid, Spain
– sequence: 4
  givenname: J.
  surname: Villagra
  fullname: Villagra, J.
  email: jorge.villagra@csic.es
  organization: Center for Autom. & Robot., AUTOPIA Program, UPM, Madrid, Spain
– sequence: 5
  givenname: C.
  surname: Gonzalez
  fullname: Gonzalez, C.
  email: gonzalez@csic.es
  organization: Center for Autom. & Robot., AUTOPIA Program, UPM, Madrid, Spain
BookMark eNotj81Kw0AURkeoYFv7AOImL5A4N_OXWYZWayAg2LouM5M7GEkzIZMIvr1Fuzrf6vCdFVn0oUdCHoBmAFQ_VYddmeUUIJOQgxLshqyAC6VAKiEWZJmD5KkCzu7IJsYvSilQpQutlkTV1a58T6yJ2CQDjg6HqQ19EkM3_w0fxsTMU-jDOcwx-cbP1nUY78mtN13EzZVr8vHyfNy-pvXbvtqWddqCkFPKlGPWWWqNcdJowR001Elv-eW5tIxZMNTThmtkWqErtC4Man-pMbzwnq3J47-3RcTTMLZnM_6crp3sF8bhSJU
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/ISDA.2011.6121753
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Xplore POP ALL
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Computer Science
EISBN 1457716755
9781457716751
9781457716768
1457716763
EndPage 795
ExternalDocumentID 6121753
Genre orig-research
GroupedDBID 6IE
6IF
6IK
6IL
6IN
AAJGR
AAWTH
ADFMO
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
IEGSK
IERZE
OCL
RIE
RIL
ID FETCH-LOGICAL-i156t-37c3bcb0baac6a954c1d0c6fb41106b33b1a0f0d49e397ec8998ae9f201a48ff3
IEDL.DBID RIE
ISSN 2164-7143
IngestDate Wed Aug 27 03:00:04 EDT 2025
IsPeerReviewed false
IsScholarly false
Language English
Japanese
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i156t-37c3bcb0baac6a954c1d0c6fb41106b33b1a0f0d49e397ec8998ae9f201a48ff3
PageCount 6
ParticipantIDs ieee_primary_6121753
PublicationCentury 2000
PublicationDate 2011-11
PublicationDateYYYYMMDD 2011-11-01
PublicationDate_xml – month: 11
  year: 2011
  text: 2011-11
PublicationDecade 2010
PublicationTitle 2011 11th International Conference on Intelligent Systems Design and Applications
PublicationTitleAbbrev ISDA
PublicationYear 2011
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0001079897
ssj0001775606
Score 1.7039738
Snippet 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...
SourceID ieee
SourceType Publisher
StartPage 790
SubjectTerms Cameras
Clustering algorithms
Intelligent systems
Laser radar
laser ranging segmentation
Object detection
road safety
Shape
Tracking
Vehicles
Title LIDAR based perception solution for autonomous vehicles
URI https://ieeexplore.ieee.org/document/6121753
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LT8JAEJ4AJ0-oYHxnDx4ttHTb3T0SkYARY1QSbmQf02hMgGDrwV_v7rZANB68tT00m9ltv3l93wBcYcKVMJkJmLYhCo3sXvCE9gKTpNLJlXHl6WKTh3Q0pXezZFaD6y0XBhF98xl23KWv5ZulLlyqrOvUrqx7XYc6Y6Lkau3yKSETvKqI-XvGLJj72XI2IgjcmO-qqBmFojt-HvRL_c7qnT-Gq3hsGTZhsllV2VLy3ily1dFfvwQb_7vsfWjvWHzkcYtPB1DDxSE0N2McSPVVt4Ddjwf9J-LwzJDVttGFbE4lsX4tkUXu6A_L4oN84qvvpWvDdHj7cjMKqnkKwZuN0nL7L9Gx0ipUUupUioTqyIQ6zRS1NklVHKtIhlloqEDrpaB2oZhEkVk7ScqzLD6CxmK5wGMgWgqZMur0HTk1MuGRVj2jZIIUhY2BTqDl7DBflZIZ88oEp38_PoM9n6r1FL9zaOTrAi8s1ufq0m_yN-IQpbo
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3NT8IwFH9BPOgJFYzf9uDRwebatT0SkYACMQoJN9KvRWMCRDcP_vW23YBoPHhbd1ia97q-z9_vAVwZwiTXqQ6osiEKjqwuGME3gSaJcHRlTHq42HCU9Cb4fkqmFbheY2GMMb75zDTdo6_l64XKXaqs5diurHu9BdvERhW0QGttMioh5aysifk1pdac--lyNiYI3KDvsqwZhbzVf-60CwbP8qs_xqt469KtwXC1r6Kp5K2ZZ7Kpvn5RNv5343vQ2OD40OPaQu1DxcwPoLYa5IDK_7oOdNDvtJ-Qs2gaLdetLmh1LpH1bJHIMweAWOQf6NO8-G66Bky6d-PbXlBOVAhebZyW2dtExVLJUAqhEsEJVpEOVZJKbGWSyDiWkQjTUGNurJ9ilAvGhOGplZPALE3jQ6jOF3NzBEgJLhKKHcMjw1oQFil5o6UgBhtulXMMdSeH2bIgzZiVIjj5-_Ul7PTGw8Fs0B89nMKuT9x6wN8ZVLP33Jxby5_JC6_wb8vcqQs
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2011+11th+International+Conference+on+Intelligent+Systems+Design+and+Applications&rft.atitle=LIDAR+based+perception+solution+for+autonomous+vehicles&rft.au=Dominguez%2C+R.&rft.au=Onieva%2C+E.&rft.au=Alonso%2C+J.&rft.au=Villagra%2C+J.&rft.date=2011-11-01&rft.pub=IEEE&rft.issn=2164-7143&rft.spage=790&rft.epage=795&rft_id=info:doi/10.1109%2FISDA.2011.6121753&rft.externalDocID=6121753
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2164-7143&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2164-7143&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2164-7143&client=summon