NDLI: A Real-Time Data Compression and Occupancy Grid Map Generation for Ground-Based 3D LIDAR Data Using Wavelets

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Im, Jeong Joon Leonessa, Alexander Kurdila, Andrew
Copyright Year	2010
Abstract	A map generated from ground-based 3D LIDAR data is a critical component for autonomous vehicle navigation using a vision based sensor. When the size of a map is large and the number of grid cells is relatively big, managing the map associated with a dense data set from 3D LIDAR scanner is a demanding task. Wavelets serve as the basis for an efficient compression scheme which makes it possible to significantly reduce processing effort to generate and manage a grid map in real-time. This paper proposes a novel approach to generate an occupancy map from compressed measurement signals. A one-dimensional Haar wavelet transform has been applied to compress 3D LIDAR data, from which occupancy maps have been generated. Our experimental results show that this method performs well to provide an autonomous vehicle with rich 3D environment information.
Sponsorship	Dynamic Systems and Control Division
Starting Page	557
Ending Page	562
Page Count	6
File Format	PDF
ISBN	9780791844182
DOI	10.1115/DSCC2010-4269
e-ISBN	9780791838846
Volume Number	ASME 2010 Dynamic Systems and Control Conference, Volume 2
Conference Proceedings	ASME 2010 Dynamic Systems and Control Conference
Language	English
Publisher Date	2010-09-12
Publisher Place	Cambridge, Massachusetts, USA
Access Restriction	Subscribed
Subject Keyword	Wavelet transforms Wavelets Compression Navigation Sensors Signals Vehicles
Content Type	Text
Resource Type	Article

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