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首页> 外文期刊>ISPRS Journal of Photogrammetry and Remote Sensing >3D local feature BKD to extract road information from mobile laser scanning point clouds
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3D local feature BKD to extract road information from mobile laser scanning point clouds

机译：3D局部特征BKD从移动激光扫描点云中提取道路信息

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摘要

Extracting road information from point clouds obtained through mobile laser scanning (MLS) is essential for autonomous vehicle navigation, and has hence garnered a growing amount of research interest in recent years. However, the performance of such systems is seriously affected due to varying point density and noise. This paper proposes a novel three-dimensional (3D) local feature called the binary kernel descriptor (BKD) to extract road information from MLS point clouds. The BKD consists of Gaussian kernel density estimation and binarization components to encode the shape and intensity information of the 3D point clouds that are fed to a random forest classifier to extract curbs and markings on the road. These are then used to derive road information, such as the number of lanes, the lane width, and intersections. In experiments, the precision and recall of the proposed feature for the detection of curbs and road markings on an urban dataset and a highway dataset were as high as 90%, thus showing that the BKD is accurate and robust against varying point density and noise. (c) 2017 International Society for Photogrammetry and Remote Sensing, Inc. (ISPRS). Published by Elsevier B.V. All rights reserved.
机译：从通过移动激光扫描（MLS）获得的点云中提取道路信息对于自动驾驶车辆至关重要，因此近年来引起了越来越多的研究兴趣。但是，由于点密度和噪声的变化，严重影响了此类系统的性能。本文提出了一种称为二进制内核描述符（BKD）的新颖的三维（3D）局部特征，以从MLS点云中提取道路信息。 BKD由高斯核密度估计和二值化组件组成，以对3D点云的形状和强度信息进行编码，这些点云将被馈送到随机森林分类器中以提取道路上的路缘石和标记。然后将这些用于导出道路信息，例如车道数量，车道宽度和交叉路口。在实验中，所提出的用于检测城市数据集和公路数据集上的路缘石和道路标记的功能的精度和召回率高达90％，因此表明BKD对变化的点密度和噪声具有精确性和鲁棒性。 （c）2017国际摄影测量与遥感学会有限公司（ISPRS）。由Elsevier B.V.发布。保留所有权利。

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  • 来源
  • 作者

    Yang Bisheng; Liu Yuan; Dong Zhen; Liang Fuxun; Li Bijun; Peng Xiangyang;

  • 作者单位

    Wuhan Univ, State Key Lab Informat Engn Surveying Mapping & R, Wuhan 430079, Hubei, Peoples R China;

    Wuhan Univ, State Key Lab Informat Engn Surveying Mapping & R, Wuhan 430079, Hubei, Peoples R China;

    Wuhan Univ, State Key Lab Informat Engn Surveying Mapping & R, Wuhan 430079, Hubei, Peoples R China;

    Wuhan Univ, State Key Lab Informat Engn Surveying Mapping & R, Wuhan 430079, Hubei, Peoples R China;

    Wuhan Univ, State Key Lab Informat Engn Surveying Mapping & R, Wuhan 430079, Hubei, Peoples R China;

    Guangdong Elect Power Res Inst, Guangzhou 510080, Guangdong, Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Point cloud processing; Feature extraction; Road marking; Curb; Detection;

    机译：点云处理;特征提取;道路标记;拐点;检测;

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