다양한 분포의 3 차원 포인트 클라우드를 위한 지면 추출 기법

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 128
  • Download : 0
3D LiDAR is widely used in unmanned ground vehicles to perceive the surrounding environment. Ground segmentation is one of the essential tasks for unmanned ground vehicles because of its various applicability. For example, ground segmentation can be used as a preprocessing step for dynamic object removal, traversable region estimation, and point cloud registration. Therefore, fast and robust performance of the ground segmentation method should be guaranteed for further steps. In this study, we propose a fast ground segmentation method for 3D point clouds of various distributions. The proposed method down-samples a 3D point cloud through a voxelization to generate a uniform point distribution regardless of the distribution of the input point cloud. Accordingly, it increases the speed of the algorithm and exhibits similar performance compared to the original algorithm.
Publisher
한국로봇학회 (KROS)
Issue Date
2023-02-15
Language
Korean
Citation

제 18회 한국로봇종합학술대회 (KRoC 2023)

URI
http://hdl.handle.net/10203/305747
Appears in Collection
EE-Conference Papers(학술회의논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0