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3D LiDAR를 이용한 차량 검출 기반의 자율 주행을 위한 특징 지도 구축

Title
3D LiDAR를 이용한 차량 검출 기반의 자율 주행을 위한 특징 지도 구축
Translated Title
Feature Map Building for Autonomous Vehicle based on 3D LiDAR Vehicle Detection Algorithm
Authors
황종락이진희박성민아재이 쿠마권순
DGIST Authors
이진희; 권순
Issue Date
2019-11-16
Citation
2019 대한임베디드공학회 추계학술대회, 312-314
Type
Conference
ISBN
9788996655312
Abstract
Recently, autonomous driving technology uses an external data such as V2X and HD-Map. The HD-Map contains various road features such as lanes, signs, and trafic lights to help autonomous driving as HD-Map based localization algorithm, and its importance has been emphasized. HD-Map is manualy constructed by hand drawing with 3D LiDAR point based map, so the construction work neds a lot of manpower and takes a long time to draw. In this paper, we propose a method to automate the drawing proces required in constructing the HD-Map. We use an object detection algorithm for extracting feature that canot be detected directly. In our method, the road centerline and driveable area are estimated as using the object information and constructed the HD-Map. In the future, this map wil be able to use for path planing of autonomous vehicles.
URI
http://hdl.handle.net/20.500.11750/14151
Publisher
대한임베디드공학회
Related Researcher
  • Author Kwon, Soon  
  • Research Interests computer vision; deep learning; autonomous driving; parallel processing; vision system on chip
Files:
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Collection:
Division of Automotive Technology2. Conference Papers


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