TY - JOUR
T1 - Detection and segmentation of 3D objects in urban environments using indexation
AU - Ramirez Pedraza, Alfonso
AU - Gonzalez Barbosa, Jose Joel
AU - Hurtado Ramos, Juan B.
AU - Garcia Moreno, Angel Ivan
AU - Ornelas Rodriguez, Francisco Javier
AU - Gonzalez Barbosa, Erick Alejandro
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/1
Y1 - 2015/4/1
N2 - A procedure for automobile detection on 3D point clouds of urban areas is presented in this work. Point clouds are obtained using an HDL-64E Velodyne LIDAR. The work is divided into two sections: Segmentation, in which the base plane (floor) and its perpendicular planes are extracted using Hough's technique. Next every other object is segmented using MeanShift method; and Indexation, in which all segmented objects are modeled according to a normal direction so that its histograms can be obtained and compared to a pre-loaded histogram database. The reconstructed environment is considered to be semi-structured, meaning that it can be modeled using planes. In the process ROC analysis is used for thresholds optimization.
AB - A procedure for automobile detection on 3D point clouds of urban areas is presented in this work. Point clouds are obtained using an HDL-64E Velodyne LIDAR. The work is divided into two sections: Segmentation, in which the base plane (floor) and its perpendicular planes are extracted using Hough's technique. Next every other object is segmented using MeanShift method; and Indexation, in which all segmented objects are modeled according to a normal direction so that its histograms can be obtained and compared to a pre-loaded histogram database. The reconstructed environment is considered to be semi-structured, meaning that it can be modeled using planes. In the process ROC analysis is used for thresholds optimization.
KW - 3D Segmentation
KW - Indexation
KW - LIDAR
UR - http://www.scopus.com/inward/record.url?scp=84929352827&partnerID=8YFLogxK
U2 - 10.1109/TLA.2015.7106365
DO - 10.1109/TLA.2015.7106365
M3 - Artículo
SN - 1548-0992
VL - 13
SP - 1120
EP - 1128
JO - IEEE Latin America Transactions
JF - IEEE Latin America Transactions
IS - 4
M1 - 7106365
ER -