Research on the range anomaly suppression algorithm in laser radar （ladar） range images is significant in the application and development of ladar. But most of existing algorithms cannot protect the edge and linear ...Research on the range anomaly suppression algorithm in laser radar （ladar） range images is significant in the application and development of ladar. But most of existing algorithms cannot protect the edge and linear target well while suppressing the range anomaly. Aiming at this problem, the differences among the edge, linear target, and range anomaly are analyzed and a novel algo- rithm based on neighborhood pixels detection is proposed. Firstly, the range differences between current pixel and its neighborhood pixels are calculated. Then, the number of neighborhood pixels is detected by the range difference threshold. Finally, whether the current pixel is a range anomaly is distinguished by the neighbor- hood pixel number threshold. Experimental results show that the new algorithm not only has a better range anomaly suppression performance and higher efficiency, but also protects the edge and linear target preferably compared with other algorithms.展开更多
A method for road boundary detection and tracking using laser ladar with respect to a vehicle＇ s local coordinates is proposed. It can be applied to different types of road conditions, such as roads with or without c...A method for road boundary detection and tracking using laser ladar with respect to a vehicle＇ s local coordinates is proposed. It can be applied to different types of road conditions, such as roads with or without curbs, having relatively rough road surface and with obstacles on road surface. In the method, some line segments are extracted after a series of preprocessing on range data. The extracted line segments are combined and further selected. They are then united to match the road models and generate the road boundary points which are tracked by Kalman filter. Then the obtained road boundary points are transformed to build a precise vector map by least squares fitting algorithm. These fitted line segments represent road boundary vectors. The vector map is precise enough to provide ample road information such as the orientation of road, the road width and the passable road region. Finally, extensive experiments conducted in urban and semi-urban environment demonstrate the robustness, effectiveness and viability of the proposed method.展开更多
Multi-view laser radar （ladar） data registration in obscure environments is an important research field of obscured target detection from air to ground. There are few overlap regions of the observational data in dif...Multi-view laser radar （ladar） data registration in obscure environments is an important research field of obscured target detection from air to ground. There are few overlap regions of the observational data in different views because of the occluder, so the multi-view data registration is rather difficult. Through indepth analyses of the typical methods and problems, it is obtained that the sequence registration is more appropriate, but needs to improve the registration accuracy. On this basis, a multi-view data registration algorithm based on aggregating the adjacent frames, which are already registered, is proposed. It increases the overlap region between the pending registration frames by aggregation and further improves the registration accuracy. The experiment results show that the proposed algorithm can effectively register the multi-view ladar data in the obscure environment, and it also has a greater robustness and a higher registration accuracy compared with the sequence registration under the condition of equivalent operating efficiency.展开更多
文摘Research on the range anomaly suppression algorithm in laser radar （ladar） range images is significant in the application and development of ladar. But most of existing algorithms cannot protect the edge and linear target well while suppressing the range anomaly. Aiming at this problem, the differences among the edge, linear target, and range anomaly are analyzed and a novel algo- rithm based on neighborhood pixels detection is proposed. Firstly, the range differences between current pixel and its neighborhood pixels are calculated. Then, the number of neighborhood pixels is detected by the range difference threshold. Finally, whether the current pixel is a range anomaly is distinguished by the neighbor- hood pixel number threshold. Experimental results show that the new algorithm not only has a better range anomaly suppression performance and higher efficiency, but also protects the edge and linear target preferably compared with other algorithms.
基金Supported by the National Natural Science Foundation of China (61174178)
文摘A method for road boundary detection and tracking using laser ladar with respect to a vehicle＇ s local coordinates is proposed. It can be applied to different types of road conditions, such as roads with or without curbs, having relatively rough road surface and with obstacles on road surface. In the method, some line segments are extracted after a series of preprocessing on range data. The extracted line segments are combined and further selected. They are then united to match the road models and generate the road boundary points which are tracked by Kalman filter. Then the obtained road boundary points are transformed to build a precise vector map by least squares fitting algorithm. These fitted line segments represent road boundary vectors. The vector map is precise enough to provide ample road information such as the orientation of road, the road width and the passable road region. Finally, extensive experiments conducted in urban and semi-urban environment demonstrate the robustness, effectiveness and viability of the proposed method.
文摘Multi-view laser radar （ladar） data registration in obscure environments is an important research field of obscured target detection from air to ground. There are few overlap regions of the observational data in different views because of the occluder, so the multi-view data registration is rather difficult. Through indepth analyses of the typical methods and problems, it is obtained that the sequence registration is more appropriate, but needs to improve the registration accuracy. On this basis, a multi-view data registration algorithm based on aggregating the adjacent frames, which are already registered, is proposed. It increases the overlap region between the pending registration frames by aggregation and further improves the registration accuracy. The experiment results show that the proposed algorithm can effectively register the multi-view ladar data in the obscure environment, and it also has a greater robustness and a higher registration accuracy compared with the sequence registration under the condition of equivalent operating efficiency.
