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Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 3
909-913

Research on multi-frame point cloud fusion algorithm and 3D object detection algorithm in dynamic environment

Wang Lijia1
Yu Huan2
Liu Shouyin1
1. College of Physical Science & Technology, Central China Normal University, Wuhan 430079, China
2. Wuhan InDriving Technology Co. , Ltd. , Wuhan 430079, China
DOI: 10.19734/j.issn.1001-3695.2022.05.0345

Abstract

The point cloud data scanned by the low-beam LiDAR is relatively sparse, resulting in poor 3D object detection in the unmanned environment perception system. Multi-frame point cloud registration can achieve sparse point cloud densification, however, pedestrians and moving vehicles in a dynamic environment will reduce the positioning accuracy of the LiDAR, and will also cause a large offset of the point cloud on the moving object in the fusion frame. Aiming at the above problems, this paper proposed a multi-frame point cloud fusion algorithm in a dynamic environment, and used this algorithm to detect 3D objects in the real situation of park roads, which improved the 3D object detection accuracy of low-beam LiDAR. This paper used the driving road condition data collected by 16-line and 40-line LiDAR to conduct experiments. The results show that the algorithm can enhance the density of sparse point clouds and improve the environmental perception ability of low-cost LiDAR.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.05.0345
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 3
Section: Technology of Graphic & Image
Pages: 909-913
Serial Number: 1001-3695(2023)03-044-0909-05

Publish History

[2022-09-23] Accepted Paper
[2023-03-05] Printed Article

Cite This Article

王理嘉, 于欢, 刘守印. 动态环境中多帧点云融合算法及三维目标检测算法研究 [J]. 计算机应用研究, 2023, 40 (3): 909-913. (Wang Lijia, Yu Huan, Liu Shouyin. Research on multi-frame point cloud fusion algorithm and 3D object detection algorithm in dynamic environment [J]. Application Research of Computers, 2023, 40 (3): 909-913. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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