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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