논문명 | Flood-fill-based object segmentation and tracking for intelligent vehicles |
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논문종류 | SCI |
저자 | Phuong Minh Chu, Seoungjae Cho, Kaisi Huang, Kyungeun Cho |
Impact Factor | 1.482 |
게재학술지명 | International Journal of Advanced Robotic Systems |
게재일 | 2019.11 |
In this article, an application for object segmentation and tracking for intelligent vehicles is presented. The proposed object segmentation and tracking method is implemented by combining three stages in each frame. First, based on our previous research on a fast ground segmentation method, the present approach segments three-dimensional point clouds into ground and non-ground points. The ground segmentation is important for clustering each object in subsequent steps. From the non-ground parts, we continue to segment objects using a flood-fill algorithm in the second stage. Finally, object tracking is implemented to determine the same objects over time in the final stage. This stage is performed based on likelihood probability calculated using features of each object. Experimental results demonstrate that the proposed system shows effective, real-time performance. |