Corpus ID: 203736515

Low-cost LIDAR based Vehicle Pose Estimation and Tracking

  title={Low-cost LIDAR based Vehicle Pose Estimation and Tracking},
  author={Chen Fu and Chiyu Dong and Xiao Zhang and John M. Dolan},
Detecting surrounding vehicles by low-cost LIDAR has been drawing enormous attention. In low-cost LIDAR, vehicles present a multi-layer L-Shape. Based on our previous optimization/criteria-based L-Shape fitting algorithm, we here propose a data-driven and model-based method for robust vehicle segmentation and tracking. The new method uses T-linkage RANSAC to take a limited amount of noisy data and performs a robust segmentation for a moving car against noise. Compared with our previous method… Expand


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  • Xiaotong Shen, S. Pendleton, M. Ang
  • Computer Science, Mathematics
  • 2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
  • 2015
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