Research on environment perception of intelligent vehicle based on LiDAR
ln view of the complex and changeable urban road scene and the large amount of three-dimensional lidar data,the transformation of ground point clouds into several small sector regions for parallel processing is studied,combined with panoramic seg-mentation and single-layer beam model for region detection,and adopts sequential fusion to fuse color pattern images with point cloud image features.The results show that the average accuracy and recall rate of 1000 frame laser point cloud are 93.85％and 95.73％respectively.The highest boundary point detection accuracy,recall rate and Fl score of the 4 roads were 0.952,0.910 and 0.921.The research has important reference value for developing more intelligent and safe vehicle environment sensing technology.
万方数据
维普
