Line feature extraction from LiDAR point cloud of unmanned vehicle platform

doi:10.13474/j.cnki.11-2246.2019.0039

Abstract

Abstract:

As the application of unmanned platforms is becoming more and more widespread, building high-precision feature maps by extracting line features from LiDAR point cloud has also become the focus of research. In this paper, a new geometric model is proposed to obtain accurate 3D line features based on the 2D line features of the depth image. The Bayesian filter is used to fuse the results of multiple frames to improve the precision and accuracy of the 3D line features.

Key words: LiDAR, depth image, edge detection, line target extraction, Bayes filter

CLC Number:

P237

CAI Binbin, LI Bijun. Line feature extraction from LiDAR point cloud of unmanned vehicle platform[J]. 测绘通报, 2019, 0(2): 32-38.

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