Cone Detection using a Combination of LiDAR and Vision-based Machine Learning

11/06/2017
by   Nico Messikommer, et al.
0

The classification and the position estimation of objects become more and more relevant as the field of robotics is expanding in diverse areas of society. In this Bachelor Thesis, we developed a cone detection algorithm for an autonomous car using a LiDAR sensor and a colour camera. By evaluating simple constraints, the LiDAR detection algorithm preselects cone candidates in the 3 dimensional space. The candidates are projected into the image plane of the colour camera and an image candidate is cropped out. A convolutional neural networks classifies the image candidates as cone or not a cone. With the fusion of the precise position estimation of the LiDAR sensor and the high classification accuracy of a neural network, a reliable cone detection algorithm was implemented. Furthermore, a path planning algorithm generates a path around the detected cones. The final system detects cones even at higher velocity and has the potential to drive fully autonomous around the cones.

READ FULL TEXT

page 10

page 12

page 14

page 16

page 19

page 27

page 29

page 31

research
12/14/2022

Autonomous Vehicle Navigation with LIDAR using Path Planning

In this paper, a complete framework for Autonomous Self Driving is imple...
research
09/02/2020

CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection

There have been significant advances in neural networks for both 3D obje...
research
03/25/2021

Estimation of Closest In-Path Vehicle (CIPV) by Low-Channel LiDAR and Camera Sensor Fusion for Autonomous Vehicle

In autonomous driving, using a variety of sensors to recognize preceding...
research
09/21/2018

LIDAR-Camera Fusion for Road Detection Using Fully Convolutional Neural Networks

In this work, a deep learning approach has been developed to carry out r...
research
03/02/2020

Extrinsic Calibration of a 3D-LIDAR and a Camera

This work presents an extrinsic parameter estimation algorithm between a...
research
12/17/2022

Occupancy Grid Based Reactive Planner

This paper proposes a perception and path planning pipeline for autonomo...
research
05/27/2021

Avancee-1 Mission and SaDoD Method: LiDAR-based stimulated atomic disintegration of space debris (SaDoD) using Optical Neural Networks

The surface degradation of satellites in Low Earth Orbit (LEO) is affect...

Please sign up or login with your details

Forgot password? Click here to reset