计算机视觉
点云
人工智能
计算机科学
由运动产生的结构
跟踪(教育)
运动估计
目标检测
视频跟踪
运动(物理)
点(几何)
对象(语法)
匹配移动
激光雷达
模式识别(心理学)
地理
数学
遥感
教育学
心理学
几何学
作者
Jianwei Li,Xin Huang,Jiawang Zhan
出处
期刊:IEEE Transactions on Intelligent Transportation Systems
[Institute of Electrical and Electronics Engineers]
日期:2023-06-01
卷期号:24 (6): 6322-6335
被引量:4
标识
DOI:10.1109/tits.2023.3250209
摘要
Detecting and tracking dynamic objects in a scene using point cloud data collected by LiDAR and estimating the motion state of objects with high accuracy are challenges for autonomous driving technology. In this study, a motion detection method based on point cloud registration is investigated to detect motion through the overlapping relationship between source and target point clouds after registration and extract moving objects using clustering and scale analysis by combining the object information of interest acquired by deep learning networks. Next, object association is achieved by object motion information and geometric and texture features. Then, a point cloud registration method flow is designed to estimate the motion state of the object with high accuracy by point cloud registration. The detection, tracking and estimation of the accurate motion state of moving objects are achieved.
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