Continuous Point Cloud Stitch based on Image Feature Matching Constraint and Score | IEEE Conference Publication | IEEE Xplore

Continuous Point Cloud Stitch based on Image Feature Matching Constraint and Score


Abstract:

The purpose of environment perception for autonomous vehicle is to get the entire information around the ego-vehicle and understand the environment where the autonomous v...Show More

Abstract:

The purpose of environment perception for autonomous vehicle is to get the entire information around the ego-vehicle and understand the environment where the autonomous vehicle runs. In this paper, we attempt to rebuild a 3D environment for the autonomous vehicle using the vehicle mounted cameras. First, we generate the continuous 3D point clouds with the vehicle moving. Then we stitch the continuous point clouds by using the image feature matching constraint and scores. At last, we obtained an accuracy and efficiency point cloud of the environment. After the numerical experiments, the proposed stitching algorithm has been verified that the MSE is lower than the average of other algorithms. And the number of points decreases than the conventional algorithm.
Date of Conference: 26-30 June 2018
Date Added to IEEE Xplore: 21 October 2018
ISBN Information:
Print on Demand(PoD) ISSN: 1931-0587
Conference Location: Changshu, China

References

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