论文标题
使用均匀的B型线的LiDAR测量的快速，健壮的地面估算
Fast and Robust Ground Surface Estimation from LIDAR Measurements using Uniform B-Splines
论文作者
论文摘要
我们提出了一种快速，坚固的方法，以从自动化车辆上的LiDAR测量中估算地面。地面被建模为瑞银（UB），可在变化的测量密度和单个参数中控制平稳性。我们将估计过程建模为强大的LS优化问题，可以将其重新构建为线性问题，从而有效地解决。使用Semantickitti数据集，我们通过将点的语义注释分为地面和非地面点来进行定量评估。最后，我们在实际情况下验证了研究工具的方法。
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.
