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This paper proposes a novel approach for segmenting and space partitioning data of sparse 3D LiDAR point clouds for autonomous driving tasks in urban environments. Our main focus is building a compact data representation which provides enough information for an accurate segmentation algorithm. We propose the use of an extension of elevation maps for automotive driving perception tasks which is capable...
The robust detection of obstacles, on a given road path by vehicles equipped with range measurement devices represents a requirement for many research fields including autonomous driving and advanced driving assistance systems. One particular sensor system used for measurement tasks, due to its known accuracy, is the LIDAR (Light Detection and Ranging). The commercial price and computational intensiveness...
In an autonomous driving system, drift can affect the sensor's position, introducing errors in the extrinsic calibration. For this reason, we have developed a method which continuously monitors two sensors, camera, and LIDAR with 16 beams, and adjusts the value of their cross-calibration. Our algorithm, starting from correct values of the extrinsic cross-calibration parameters, can detect small sensor...
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