OBJECT DETECTION USING LOCAL (GROUND-AWARE) ADAPTIVE REGION PROPOSALS ON POINT CLOUDS

Embodiments include a method for object detection in a Light Detection And Ranging (LiDAR) point cloud, the method comprising: placing, by a navigation system, a plurality of anchor points in a two-dimensional Bird's Eye View (BEV) of spatial points represented in a segmented ground surface rep...

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Bibliographic Details
Main Authors Ahuja, Disha, Kumar, Arun CS, Aithal, Ashwath
Format Patent
LanguageEnglish
Published 20.05.2021
Subjects
ANALOGOUS ARRANGEMENTS USING OTHER WAVES
CALCULATING
COMPUTING
COUNTING
DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES
MEASURING
PHYSICS
RADIO DIRECTION-FINDING
RADIO NAVIGATION
TESTING
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Summary:Embodiments include a method for object detection in a Light Detection And Ranging (LiDAR) point cloud, the method comprising: placing, by a navigation system, a plurality of anchor points in a two-dimensional Bird's Eye View (BEV) of spatial points represented in a segmented ground surface representation of objects detected by a LiDAR system; extracting, by the navigation system, one or more features from the two-dimensional BEV of the spatial points; proposing, by the navigation system, one or more regions of the two-dimensional BEV of the spatial points for object detection; and performing, by the navigation system, object detections on anchor points of the plurality of anchor points in the proposed one or more regions of the two-dimensional BEV of the spatial points.
Bibliography:Application Number: US202016781747