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Summary & Details

Point-frame Composition Method for Far Objects Using LiDAR and Camera

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Format: PDF

Price: Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880

Publication code: 20219040

Paper/Info type: Other International Conferences

Pages: 1-3(Total 3 p)

Date of publication: Sep 2021

Publisher: JSAE

Language: English

Detailed Information

Author(E)	1) Mai Saito, 2) Shuncong Shen, 3) Toshio Ito
Affiliation(E)	1) Shibaura Institute of Technology, 2) Shibaura Institute of Technology, 3) Shibaura Institute of Technology
Abstract(E)	In recent years, there has been growing interest in automated driving. For automated driving, accurate recognition of the objects in the surrounding environment is essential to ensure safety. LiDAR plays an important role in external recognition due to its high spatial resolution. However, the limitation of LiDAR is that the point cloud data become sparse at a long range. This problem makes it difficult to obtain accurate information about the target object. Hence, we propose a point-frame composition method, using sensor fusion with LiDAR and camera. RGB data are used to search for the corresponding point in adjacent frames and the searching region is determined by LiDAR’s depth data. In the experiment, the proposed method is applied to the data of a preceding vehicle, and the improvement of the accuracy of the shape recovery rate is confirmed.

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