| 基于改进DBSCAN算法的激光雷达车辆探测方法 |
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| 引用本文： | 关超华,陈泳丹,陈慧岩,龚建伟. 基于改进DBSCAN算法的激光雷达车辆探测方法[J]. 北京理工大学学报, 2010, 30(6): 732-736 |
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| 作者姓名： | 关超华 陈泳丹 陈慧岩 龚建伟 |
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| 作者单位： | 北京理工大学机械与车辆学院,北京,100081;广州汽车集团股份有限公司汽车工程研究院,广东,广州,510640;北京理工大学机械与车辆学院,北京,100081 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 结合车辆行驶的实际环境,提出了一种基于改进DBSCAN快速聚类算法的激光雷达车辆探测方法.建立激光雷达与摄像机传感器坐标与车辆坐标之间的转换模型,进行数据融合,通过改进DBSCAN算法对雷达数据进行去噪声和聚类处理,根据车辆在激光雷达探测中的形状特征模型进行形状匹配,实时完成车辆探测,并将探测结果投影至图像上.实车实验结果证明,改进的DBSCAN算法在车辆探测应用中具有良好的准确性和实时性.
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| 关 键 词： | 激光雷达 数据融合 DBSCAN算法 车辆探测 |
| 收稿时间： | 2009-04-11 |
Improved DBSCAN Clustering Algorithm Based Vehicle Detection Using a Vehicle-Mounted Laser Scanner |
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| GUAN Chao-hu,CHEN Yong-dan,CHEN Hui-yan and GONG Jing-wei. Improved DBSCAN Clustering Algorithm Based Vehicle Detection Using a Vehicle-Mounted Laser Scanner[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2010, 30(6): 732-736 |
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| Authors: | GUAN Chao-hu CHEN Yong-dan CHEN Hui-yan GONG Jing-wei |
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| Affiliation: | GUAN Chao-hua1,2,CHEN Yong-dan1,CHEN Hui-yan1,GONG Jing-wei1 (1.School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China,2.Automotive Engineering Institute,Guanzhou Automobile Group Co. Ltd,Guangzhou,Guangdong 510640,China) |
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| Abstract: | Combining with the practical application of driving environment,this paper proposed a vehicle detection method based on improved DBSCAN clustering algorithm using a laser scanner. First,the vehicle and sensor coordinate conversion model was built to fuse the data from the laser scanner and the camera. Then the DBSCAN algorithm was improved to cluster the laser scanner data points and remove the noises at the same time. Based on the models of vehicle shape features,the preceding vehicles could be detected us... |
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| Keywords: | laser scanner data fusion DBSCAN algorithm vehicle detection |
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