Fast and Robust Ground Surface Estimation from LIDAR Measurements using
Uniform B-Splines
- URL: http://arxiv.org/abs/2203.01180v1
- Date: Wed, 2 Mar 2022 15:26:51 GMT
- Title: Fast and Robust Ground Surface Estimation from LIDAR Measurements using
Uniform B-Splines
- Authors: Sascha Wirges, Kevin R\"osch, Frank Bieder, Christoph Stiller
- Abstract summary: We propose a fast and robust method to estimate the ground surface from LIDAR measurements on an automated vehicle.
We model the estimation process as a robust LS optimization problem which can be reformulated as a linear problem.
We validate the approach on our research vehicle in real-world scenarios.
- Score: 3.337790639927531
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: We propose a fast and robust method to estimate the ground surface from LIDAR
measurements on an automated vehicle. The ground surface is modeled as a UBS
which is robust towards varying measurement densities and with a single
parameter controlling the smoothness prior. We model the estimation process as
a robust LS optimization problem which can be reformulated as a linear problem
and thus solved efficiently. Using the SemanticKITTI data set, we conduct a
quantitative evaluation by classifying the point-wise semantic annotations into
ground and non-ground points. Finally, we validate the approach on our research
vehicle in real-world scenarios.
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