车载激光雷达点云数据地面滤波算法综述

Siyuan Huang; Limin Liu; Jian Dong; Xiongjun Fu

doi:10.12086/oee.2020.190688

车载激光雷达点云数据地面滤波算法综述

Translated title of the contribution: Review of ground filtering algorithms for vehicle LiDAR scans point cloud data

Siyuan Huang, Limin Liu^*, Jian Dong, Xiongjun Fu

^*Corresponding author for this work

School of Integrated Circuits and Electronics

Shijiazhuang Campus of Army Engineering University

Research output: Contribution to journal › Review article › peer-review

12 Citations (Scopus)

Abstract

LiDAR plays an important role in the field of unmanned driving. Ground filtering is the key technology to separate and extract the ground information from the point cloud data acquired by LiDAR. Firstly, the development and classification of vehicle LiDAR scans (VLS) are introduced, and the advantages and disadvantages of all kinds of VLS are discussed. Then, the development of VLS ground filtering algorithm is studied and classified. The evaluation methods and standards of ground filtering accuracy are described, and three typical algorithms are compared and analyzed. Finally, the shortcomings of current VLS and its ground filtering algorithms are summarized, and the future development trend is prospected.

Translated title of the contribution	Review of ground filtering algorithms for vehicle LiDAR scans point cloud data
Original language	Chinese (Traditional)
Article number	190688
Journal	Guangdian Gongcheng/Opto-Electronic Engineering
Volume	47
Issue number	12
DOIs	https://doi.org/10.12086/oee.2020.190688
Publication status	Published - 15 Dec 2020

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Huang, S., Liu, L., Dong, J., & Fu, X. (2020). 车载激光雷达点云数据地面滤波算法综述. Guangdian Gongcheng/Opto-Electronic Engineering, 47(12), Article 190688. https://doi.org/10.12086/oee.2020.190688

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title = "车载激光雷达点云数据地面滤波算法综述",

abstract = "LiDAR plays an important role in the field of unmanned driving. Ground filtering is the key technology to separate and extract the ground information from the point cloud data acquired by LiDAR. Firstly, the development and classification of vehicle LiDAR scans (VLS) are introduced, and the advantages and disadvantages of all kinds of VLS are discussed. Then, the development of VLS ground filtering algorithm is studied and classified. The evaluation methods and standards of ground filtering accuracy are described, and three typical algorithms are compared and analyzed. Finally, the shortcomings of current VLS and its ground filtering algorithms are summarized, and the future development trend is prospected.",

keywords = "Accuracy evaluation, Ground filtering, Intelligent driving, LiDAR, Prospect",

author = "Siyuan Huang and Limin Liu and Jian Dong and Xiongjun Fu",

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doi = "10.12086/oee.2020.190688",

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T1 - 车载激光雷达点云数据地面滤波算法综述

AU - Huang, Siyuan

AU - Liu, Limin

AU - Dong, Jian

AU - Fu, Xiongjun

PY - 2020/12/15

Y1 - 2020/12/15

N2 - LiDAR plays an important role in the field of unmanned driving. Ground filtering is the key technology to separate and extract the ground information from the point cloud data acquired by LiDAR. Firstly, the development and classification of vehicle LiDAR scans (VLS) are introduced, and the advantages and disadvantages of all kinds of VLS are discussed. Then, the development of VLS ground filtering algorithm is studied and classified. The evaluation methods and standards of ground filtering accuracy are described, and three typical algorithms are compared and analyzed. Finally, the shortcomings of current VLS and its ground filtering algorithms are summarized, and the future development trend is prospected.

AB - LiDAR plays an important role in the field of unmanned driving. Ground filtering is the key technology to separate and extract the ground information from the point cloud data acquired by LiDAR. Firstly, the development and classification of vehicle LiDAR scans (VLS) are introduced, and the advantages and disadvantages of all kinds of VLS are discussed. Then, the development of VLS ground filtering algorithm is studied and classified. The evaluation methods and standards of ground filtering accuracy are described, and three typical algorithms are compared and analyzed. Finally, the shortcomings of current VLS and its ground filtering algorithms are summarized, and the future development trend is prospected.

KW - Accuracy evaluation

KW - Ground filtering

KW - Intelligent driving

KW - LiDAR

KW - Prospect

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DO - 10.12086/oee.2020.190688

M3 - 文献综述

AN - SCOPUS:85098989022

SN - 1003-501X

VL - 47

JO - Guangdian Gongcheng/Opto-Electronic Engineering

JF - Guangdian Gongcheng/Opto-Electronic Engineering

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车载激光雷达点云数据地面滤波算法综述

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