激光与光电子学进展, 2019, 56 (13): 130001, 网络出版: 2019-07-11
三维激光雷达在无人车环境感知中的应用研究 下载: 3337次
Application Research of There-Dimensional LiDAR in Unmanned Vehicle Environment Perception
遥感 无人驾驶 三维激光雷达 障碍物检测 栅格网络 深度学习 remote sensing automatic driving three-dimensional LiDAR obstacle detection grid network deep learning
摘要
环境感知是无人驾驶的核心技术之一,而利用三维激光雷达进行障碍物检测一直是国内外的研究热点。本文首先按照传感器的种类介绍了无人车障碍物检测方法的分类,然后介绍了基于三维激光雷达进行障碍物检测的基本原理,之后详细分析了基于三维激光雷达进行障碍物检测的传统方法。其中深度学习是二维图像目标检测及分类的重要方法,在介绍三维激光雷达点云特点的同时分析了点云深度学习的挑战,最后详细分析了三维点云深度学习在障碍物检测方面的研究现状以及发展趋势,并且介绍了自动驾驶领域的KITTI数据集和ApolloScape数据集。
Abstract
The environmental perception of unmanned vehicles is a vital technology for automatic driving. The usage of three-dimensional (3D) LiDAR for obstacle detection becomes a popular research topic. In this paper, we first introduce the classification of obstacle detection methods for an unmanned vehicle according to different sensors. The basic principle of obstacle detection based on 3D LiDAR is then introduced in detail along with an analysis of the traditional method of obstacle detection using 3D LiDAR. Deep learning is an important method for two-dimensional object detection and classification. We analyze the characteristics of the 3D LiDAR point clouds and the challenges of deep learning for point clouds. Finally, we analyze the research status and development trend of deep learning in the point cloud obstacle detection application and introduce relevant datasets in the field of automatic driving, such as KITTI and ApolloScape.
张银, 任国全, 程子阳, 孔国杰. 三维激光雷达在无人车环境感知中的应用研究[J]. 激光与光电子学进展, 2019, 56(13): 130001. Yin Zhang, Guoquan Ren, Ziyang Cheng, Guojie Kong. Application Research of There-Dimensional LiDAR in Unmanned Vehicle Environment Perception[J]. Laser & Optoelectronics Progress, 2019, 56(13): 130001.