Jinze Xia, Haoming Sun, Shenghui Hu, Dongtai Liang. 3D laser point cloud clustering method based on image information constraints[J]. Opto-Electronic Engineering, 2023, 50(2): 220148
- Opto-Electronic Engineering
- Vol. 50, Issue 2, 220148 (2023)
Fig. 1. Flow chart of 3D laser point cloud clustering algorithm constrained by image information
Fig. 2. Preprocessing of point cloud data. (a) Before processing; (b) After processing
Fig. 3. Ground segmentation. (a) Groud points; (b) Non-groud points
Fig. 4. Sensor coordinate system
Fig. 5. YOLOv5 network structure diagram
Fig. 6. Schematic diagram of detection frame constraint point cloud
Fig. 7. Cluster centroid selection graph
Fig. 8. Experimental hardware platform and experimental scene
Fig. 9. Align timestamp
Fig. 10. LiDAR and camera calibration. (a) Before calibration; (b) After calibration
Fig. 11. Clustering results of multiple algorithms. (a) DBSCAN; (b) Euclidean Clustering; (c) K-means++; (d) My-method
Fig. 12. Running time of each module of this method
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Table 1. Calibration results of internal parameters
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Table 2. Calibration results of external parameters
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Table 3. Affects of distribution spacing on the algorithm
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Table 4. Performance comparison of multiple algorithms
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