Kuiyu ZHOU, Yuchun HUANG, He YANG, Na LI. Integrated 2D-3D LiDAR-vision fusion vehicle speed estimation based on image frustum[J]. Optics and Precision Engineering, 2024, 32(19): 2945
- Optics and Precision Engineering
- Vol. 32, Issue 19, 2945 (2024)
Fig. 1. Flowchart of fusion-based vehicle speed estimation technique
Fig. 2. Differentiating foreground from background using ground points
Fig. 3. Preliminary segmentation of main point cloud and noise point cloud in overhead 2D view and selection of seed point regions
Fig. 4. Restoration to 3D point cloud and selection of clustering seed points based on centroids
Fig. 5. Traffic conditions in various scenarios
Fig. 6. Visualization of calibration results in some scenarios
Fig. 7. Speed measurement results of descending after straight driving from near to far
Fig. 8. Speed measurement results of downhill and straight driving from far to near
Fig. 9. Results of vehicles traveling from far to near and turning at a gentle corner at the end
Fig. 10. Speed measurement results of vehicles approaching a stop state
Fig. 11. Speed measurement results of vehicles during turning
Fig. 12. Image-prioritized multi-target vehicle extraction and localization results
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Table 1. Reprojection error after calibration of each scenario
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Table 2. Average speed measurement error of car
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Table 3. Average speed measurement error of passenger car， truck and lorry
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