Continuous Point Cloud Stitch based on Image Feature Matching Constraint and Score

被引：0

作者：

Hu, Fangchao ^{[1
]}

Li, Yinguo ^{[1
]}

Huang, Wei ^{[2
]}

Tian, Zhen ^{[2
]}

机构：

[1] Chongqing Univ Posts & Telecommun, Chongqing 400065, CQ, Peoples R China

[2] Chongqing Univ Posts & Telecommun, Comp Sci & Technol Dept, Chongqing 400065, CQ, Peoples R China

来源：

2018 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) | 2018年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The purpose of environment perception for autonomous vehicle is to get the entire information around the ego-vehicle and understand the environment where the autonomous vehicle runs. In this paper, we attempt to rebuild a 3D environment for the autonomous vehicle using the vehicle mounted cameras. First, we generate the continuous 3D point clouds with the vehicle moving. Then we stitch the continuous point clouds by using the image feature matching constraint and scores. At last, we obtained an accuracy and efficiency point cloud of the environment. After the numerical experiments, the proposed stitching algorithm has been verified that the MSE is lower than the average of other algorithms. And the number of points decreases than the conventional algorithm.

引用

页码：1736 / 1741

页数：6

共 18 条

[1]

Cao Mingwei, 2017, MULTIMEDIA TOOLS APP, P1

[2]

Ducrot A, 2011, IEEE INT VEH SYM, P497, DOI 10.1109/IVS.2011.5940507

[3] Accuracy Study of Close Range 3D Object Reconstruction based on Point Clouds [J].

Grzegorz, Gabara ;

Piotr, Sawicki .

2017 BALTIC GEODETIC CONGRESS (BGC GEOMATICS), 2017, :25-29

[4] An Iterative Closest Points Algorithm for Registration of 3D Laser Scanner Point Clouds with Geometric Features [J].

He, Ying ;

Liang, Bin ;

Yang, Jun ;

Li, Shunzhi ;

He, Jin .

SENSORS, 2017, 17 (08)

[5]

Lefebvre S, 2012, 2012 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), P855, DOI 10.1109/IVS.2012.6232280

[6] Real-Time Feature-Based Video Stabilization on FPGA [J].

Li, Jianan ;

Xu, Tingfa ;

Zhang, Kun .

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, 2017, 27 (04) :907-919

[7] SIFT Keypoint Removal and Injection via Convex Relaxation [J].

Li, Yuanman ;

Zhou, Jiantao ;

Cheng, An ;

Liu, Xianming ;

Tang, Yuan Yan .

IEEE TRANSACTIONS ON INFORMATION FORENSICS AND SECURITY, 2016, 11 (08) :1733-1746

[8] Specificity and Latent Correlation Learning for Action Recognition Using Synthetic Multi-View Data From Depth Maps [J].

Liang, Bin ;

Zheng, Lihong .

IEEE TRANSACTIONS ON IMAGE PROCESSING, 2017, 26 (12) :5560-5574

[9] Removing bias from LiDAR-based estimates of canopy height: Accounting for the effects of pulse density and footprint size [J].

Roussel, Jean-Romain ;

Caspersen, John ;

Beland, Martin ;

Thomas, Sean ;

Achim, Alexis .

REMOTE SENSING OF ENVIRONMENT, 2017, 198 :1-16

[10]

Rublee E, 2011, IEEE I CONF COMP VIS, P2564, DOI 10.1109/ICCV.2011.6126544

← 1 2 →