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In this paper, we propose a multi-object tracking and reconstruction approach through measurement-level fusion of LiDAR and camera. The proposed method, regardless of object class, estimates 3D motion and structure for all rigid obstacles. Using an intermediate surface representation, measurements from both sensors are processed within a joint framework. We combine optical flow, surface reconstruction,...
This paper presents a workflow including a novel algorithm for road detection from dense LiDAR fused with high-resolution aerial imagery data. Using a supervised machine learning approach point clouds are firstly classified into one of three groups: building, ground, or unassigned. Ground points are further processed by a novel algorithm to extract a road network. The algorithm exploits the high variance...
In many applications involving robotics and intelligent vehicles, high precision multi-target trajectories are needed for analysis, especially those associated with control and safety applications. This paper presents an optimization approach to obtain multiple targeted trajectories from a stationary 2D LIDAR along the LIDAR's measurement plane. The use of the 2D LIDAR allows this method to work in...
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