NDLI: Robust ground plane detection from 3D point clouds

Content Provider	IEEE Xplore Digital Library
Author	Sunglok Choi Jaehyun Park Jaemin Byun Wonpil Yu
Copyright Year	2014
Description	Author affiliation: Intell. Cognitive Technol. Res. Dept., ETRI, Daejeon, South Korea (Sunglok Choi; Jaehyun Park; Jaemin Byun; Wonpil Yu)
Abstract	Ground provides useful and basic information such as traversal regions and location of 3D objects. The given point cloud may contain a point not only from ground, but also from other objects such as walls and people. Those points from other objects can disturb to find and identify a ground plane. In this paper, we propose robust and fast ground plane detection with an asymmetric kernel and RANSAC. We derive a probabilistic model of a 3D point based on an observation that a point from other objects is always above the ground. The asymmetric kernel is its approximation for fast computation, which is incorporated with RANSAC as a score function. We demonstrate effectiveness of our proposed method as quantitative experiments with our on-road 3D LiDAR dataset. The experimental result presents that our method was sufficiently accurate with slightly more computation. Finally, we also show our ground detection's application to augmented perception and visualization for drivers and remote operators.
Starting Page	1076
Ending Page	1081
File Size	1555083
Page Count	6
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987936
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	RANSAC Accuracy asymmetric kernel obstacle detection 3D point cloud ground plane detection traversable region
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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