Adaptive Threshold Clustering Segmentation Method Based on Two-Dimensional Lidar

Zhu Wang; Zhi Wang; Xu Zhang; Can Cui; Jian Wang

doi:10.3788/CJL202148.1610005

[1] Kostavelis I, Nalpantidis L, Gasteratos A. Supervised traversability learning for robot navigation[M]. //Groß R, Alboul L, Melhuish C, et al. Towards autonomous robotic systems. Lecture notes in computer science, 6856, 289-298(2011).

[2] Jazayeri A, Cai H Y, Zheng J Y et al. Vehicle detection and tracking in car video based on motion model[J]. IEEE Transactions on Intelligent Transportation Systems, 12, 583-595(2011).

[3] Zeng L N. Research on obstacle detection and identification for on-board vision systems[D](2016).

[4] Fan X H, Xu G L, Li W L et al. Target segmentation method for three-dimensional LiDAR point cloud based on depth image[J]. Chinese Journal of Lasers, 46, 0710002(2019).

[5] Cao G P, Liu X S, Liu N et al. Segmentation of subway tunnel wall surface objects based on laser 3D point cloud[J]. Acta Optica Sinica, 40, 2110001(2020).

[6] Birant D, Kut A. ST-DBSCAN: an algorithm for clustering spatial-temporal data[J]. Data & Knowledge Engineering, 60, 208-221(2007).

[7] Wang W M, Sakurada K, Kawaguchi N. Incremental and enhanced scanline-based segmentation method for surface reconstruction of sparse LiDAR data[J]. Remote Sensing, 8, 967(2016).

[8] Huang G, Wu C Z, Lü N C. A study of laser radar object detection based on improved DBSCAN algorithm[J]. Journal of Transport Information and Safety, 33, 23-28(2015).

[9] Zhao K, Xu Y C, Li Y L et al. Large-scale scattered point-cloud denoising based on VG-DBSCAN algorithm[J]. Acta Optica Sinica, 38, 1028001(2018).

[10] Li Y Z. Research on SLAM of indoor robot based on LIDAR[D](2016).

[11] Hang Y J, Liu J Y, Li R B et al. MEMS IMU/LADAR integrated navigation method based on mixed feature match[J]. Acta Aeronautica et Astronautica Sinica, 35, 2583-2592(2014).

[12] Lü Y Z, Sun Q, Bi G L. Recognition and repairing of surface hole in three dimensional laser scanning system[J]. Chinese Optics, 9, 114-121(2016).

[13] Qiao J N. The environmental perception of unmanned platform based on the 2D laser radar[D](2016).

[14] Chavez-Garcia R O, Burlet J, Vu T D et al. Frontal object perception using radar and mono-vision[C]. ∥2012 IEEE Intelligent Vehicles Symposium, June 3-7, 2012, Madrid, Spain., 159-164(2012).

[15] Li L J. Research on technology of road information extraction based on four-layer laser radar[D](2016).