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공지사항
논문명 |
Automatic Trace Elimination of Dynamic Objects from Accumulated Lidar Point Cloud |
구분 |
국제발표 |
저자 |
Phuong Chu, Seoungjae Cho, Sungdae Sim, Kiho Kwak, Kyungeun Cho |
국내/국외 |
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학술회의명 |
IFIT2016 |
개최국가 |
Korea |
주관기관 |
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게재일 |
2016.10 |
This paper presents a novel approach to eliminate trace of moving
objects when we accumulate point cloud data. First, we design a fast ground
segmentation algorithm to separate ground and none-ground. Next, we employ
two voxel maps for saving information of previous and current frames. The
center of each voxel map is corresponding to sensor’s position. We consider the
occupancy status and the position of each voxel in two consecutive frames to
detect the voxels containing past data of moving objects. To decrease
processing time of checking the collision between line segments and voxels, we
propose a new method based on three-dimensional Bresenham’s line algorithm. |
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