Respected Friends;
What will be the possible research plan for 3D object perception based on Lidar image?
This paper describes a LIDAR-based perception
system for ground robot mobility, consisting of 3D object
detection, classification and tracking. The presented system
was demonstrated on-board our autonomous ground vehicle
MuCAR-3, enabling it to safely navigate in urban traffic-like
scenarios as well as in off-road convoy scenarios. The efficiency
of our approach stems from the unique combination of 2D and
3D data processing techniques. Whereas fast segmentation of
point clouds into objects is done in a 2
1
2D occupancy grid,
classifying the objects is done on raw 3D point clouds. For
fast switching of domains, the occupancy grid is enhanced to
act like a hash table for retrieval of 3D points. In contrast to
most existing work on 3D point cloud classification, where realtime
operation is often impossible, this combination allows our
system to perform in real-time at 0.1s frame-rate
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