Corpus ID: 203736515

Low-cost LIDAR based Vehicle Pose Estimation and Tracking

@article{Fu2019LowcostLB,
  title={Low-cost LIDAR based Vehicle Pose Estimation and Tracking},
  author={Chen Fu and Chiyu Dong and Xiao Zhang and John M. Dolan},
  journal={ArXiv},
  year={2019},
  volume={abs/1910.01701}
}
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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