IRI - Dynamic object detection fusing LIDAR data and images

Publication

Dynamic object detection fusing LIDAR data and images

Conference Article

Conference

Taller de Procesamiento de Imágenes (PI)

Edition

Doc link

http://pi2014.eventos.cimat.mx/

File

Download the digital copy of the doc pdf document

Authors

Projects associated

PAU+: Perception and Action in Robotics Problems with Large State Spaces

Abstract

We present a method to segment dynamic objects on point clouds using images and 3D laser data. Per-pixel background classes are adapted online as Gaussian Mixtures independently for each sensor. The learned classes are fused labeling pixels/voxels that belong to either the background, or the dynamic objects We pay special attention in the calibration and synchronization modules to reach accuracy in registration and data association. We show results of people segmentation in indoor scenes using a Velodyne sensor at a high frame-rate .

Scientific reference

A.A. Ortega and J. Andrade-Cetto. Dynamic object detection fusing LIDAR data and images, X Taller de Procesamiento de Imágenes, 2014, Guanajuato México.