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자율주행을 위한 라이다 기반의 실시간 그라운드 세그멘테이션 알고리즘 : LiDAR based Real-time Ground Segmentation Algorithm for Autonomous Driving
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이아영 | - |
dc.contributor.author | 이경수 | - |
dc.date.accessioned | 2023-05-31T01:48:04Z | - |
dc.date.available | 2023-05-31T01:48:04Z | - |
dc.date.created | 2023-05-31 | - |
dc.date.issued | 2022-06 | - |
dc.identifier.citation | 자동차안전학회지, Vol.14 No.2, pp.51-56 | - |
dc.identifier.issn | 2005-9396 | - |
dc.identifier.uri | https://hdl.handle.net/10371/192579 | - |
dc.description.abstract | This paper presents an Ground Segmentation algorithm to eliminate unnecessary Lidar Point Cloud Data (PCD) in an autonomous driving system. We consider Random Sample Consensus (Ransac) Algorithm to process lidar ground data. Ransac designates inlier and outlier to erase ground point cloud and classified PCD into two parts. Test results show removal of PCD from ground area by distinguishing inlier and outlier. The paper validates ground rejection algorithm in real time calculating the number of objects recognized by ground data compared to lidar raw data and ground segmented data based on the z-axis. Ground Segmentation is simulated by Robot Operating System (ROS) and an analysis of autonomous driving data is constructed by Matlab. The proposed algorithm can enhance performance of autonomous driving as misrecognizing circumstances are reduced. | - |
dc.language | 한국어 | - |
dc.publisher | 사단법인 한국자동차안전학회 | - |
dc.title | 자율주행을 위한 라이다 기반의 실시간 그라운드 세그멘테이션 알고리즘 | - |
dc.title.alternative | LiDAR based Real-time Ground Segmentation Algorithm for Autonomous Driving | - |
dc.type | Article | - |
dc.identifier.doi | 10.22680/kasa2022.14.2.051 | - |
dc.citation.journaltitle | 자동차안전학회지 | - |
dc.citation.endpage | 56 | - |
dc.citation.number | 2 | - |
dc.citation.startpage | 51 | - |
dc.citation.volume | 14 | - |
dc.identifier.kciid | ART002853383 | - |
dc.description.isOpenAccess | N | - |
dc.contributor.affiliatedAuthor | 이경수 | - |
dc.description.journalClass | 2 | - |
dc.subject.keywordAuthor | Autonomous Driving(자율주행) | - |
dc.subject.keywordAuthor | Lidar Processing(라이다 처리) | - |
dc.subject.keywordAuthor | Point Cloud Data(점군집 데이터) | - |
dc.subject.keywordAuthor | Random Sample Consensus(랜덤 표본 합의) | - |
dc.subject.keywordAuthor | Real-time Performance(실시간 처리) | - |
dc.subject.keywordAuthor | Robot Operating System(로봇 운영 체제) Ground Segmentation(땅 분류) | - |
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