Two-Layer-Graph Clustering for Real-Time 3D LiDAR Point Cloud Segmentation | |
Yang HZ(杨浩哲); Wang ZL(王智灵); Lin LL(林玲龙); Liang HW(梁华为); Huang WX(黄伟鑫); Xu FY(徐凤煜) | |
刊名 | Applied Sciences |
2020-09-29 | |
关键词 | graph structure point cloud cluster real time improved BFS |
英文摘要 | The perception system has become a topic of great importance for autonomous vehicles, as high accuracy and real-time performance can ensure safety in complex urban scenarios. Clustering is a fundamental step for parsing point cloud due to the extensive input data (over 100,000 points) of a wide variety of complex objects. It is still challenging to achieve high precision real-time performance with limited vehicle-mounted computing resources, which need to balance the accuracy and processing time. We propose a method based on a Two-Layer-Graph (TLG) structure, which can be applied in a real autonomous vehicle under urban scenarios. TLG can describe the point clouds hierarchically, we use a range graph to represent point clouds and a set graph for point cloud sets, which reduce both processing time and memory consumption. In the range graph, Euclidean distance and the angle of the sensor position with two adjacent vectors (calculated from continuing points to different direction) are used as the segmentation standard, which use the local concave features to distinguish different objects close to each other. In the set graph, we use the start and end position to express the whole set of continuous points concisely, and an improved Breadth-First-Search (BFS) algorithm is designed to update categories of point cloud sets between different channels. This method is evaluated on real vehicles and major datasets. The results show that TLG succeeds in providing a real-time performance (less than 20 ms per frame), and a high segmentation accuracy rate (93.64%) for traffic objects in the road of urban scenarios. |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/125916] |
专题 | 合肥物质科学研究院_中科院合肥智能机械研究所 |
通讯作者 | Wang ZL(王智灵); Lin LL(林玲龙) |
作者单位 | 1.中科学院合肥物质科学研究院 2.中国科学院机器人与智能制造创新研究院 3.安徽省智能驾驶技术及应用工程实验室 4.中国科学技术大学 |
推荐引用方式 GB/T 7714 | Yang HZ,Wang ZL,Lin LL,et al. Two-Layer-Graph Clustering for Real-Time 3D LiDAR Point Cloud Segmentation[J]. Applied Sciences,2020. |
APA | Yang HZ,Wang ZL,Lin LL,Liang HW,Huang WX,&Xu FY.(2020).Two-Layer-Graph Clustering for Real-Time 3D LiDAR Point Cloud Segmentation.Applied Sciences. |
MLA | Yang HZ,et al."Two-Layer-Graph Clustering for Real-Time 3D LiDAR Point Cloud Segmentation".Applied Sciences (2020). |
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