Ramirez Pedraza A.,CICATA Qro. IPN |
Gonzalez Barbosa J.J.,CICATA Qro. IPN |
Hurtado Ramos J.B.,CICATA Qro. IPN |
Garcia Moreno A.I.,CICATA Qro. IPN |
And 2 more authors.
IEEE Latin America Transactions | Year: 2015
A procedure for automobile detection on 3D point clouds of urban areas is presented in this work. Point clouds are obtained using an HDL-64E Velodyne LIDAR. The work is divided into two sections: Segmentation, in which the base plane (floor) and its perpendicular planes are extracted using Hough's technique. Next every other object is segmented using MeanShift method; and Indexation, in which all segmented objects are modeled according to a normal direction so that its histograms can be obtained and compared to a pre-loaded histogram database. The reconstructed environment is considered to be semi-structured, meaning that it can be modeled using planes. In the process ROC analysis is used for thresholds optimization. © 2015 IEEE.