Journal ArticleDOI
Use of mobile LiDAR in road information inventory: a review
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TLDR
This review presents a more in-depth description of current mobile LiDAR studies on road information inventory, including the detection and extraction of road surfaces, small structures on the road surfaces and pole-like objects.Abstract:
Mobile LiDAR technology is currently one of the attractive topics in the fields of remote sensing and laser scanning. Mobile LiDAR enables a rapid collection of enormous volumes of highly dense, irregularly distributed, accurate geo-referenced data, in the form of three-dimensional (3D) point clouds. This technology has been gaining popularity in the recognition of roads and road-scene objects. A thorough review of available literature is conducted to inform the advancements in mobile LiDAR technologies and their applications in road information inventory. The literature review starts with a brief overview of mobile LiDAR technology, including system components, direct geo-referencing, data error analysis and geometrical accuracy validation. Then, this review presents a more in-depth description of current mobile LiDAR studies on road information inventory, including the detection and extraction of road surfaces, small structures on the road surfaces and pole-like objects. Finally, the challenges ...read more
Citations
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Journal ArticleDOI
LiDAR Point Clouds to 3-D Urban Models$:$ A Review
TL;DR: The existing urban reconstruction algorithms, prevalent in computer graphics, computer vision and photogrammetry disciplines, are reviewed, their performance in the architectural modeling context is evaluated, and the adaptability of generic mesh reconstruction techniques to the urban modeling pipeline is discussed.
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Research Advances and Challenges of Autonomous and Connected Ground Vehicles
TL;DR: A representative architecture of CAVs is introduced and the latest research advances, methods, and algorithms for sensing, perception, planning, and control of CAV are surveyed and their significant research issues enumerated.
Journal ArticleDOI
Object Recognition, Segmentation, and Classification of Mobile Laser Scanning Point Clouds: A State of the Art Review.
TL;DR: This review summarizes the state of the art for MLS data processing approaches, including feature extraction, segmentation, object recognition, and classification, and describes relevant generalized algorithms for feature extraction and segmentation that are applicable to and implemented in many processing approaches.
Journal ArticleDOI
Mobile Laser Scanned Point-Clouds for Road Object Detection and Extraction: A Review
TL;DR: The main contribution of this review demonstrates that the MLS systems are suitable for supporting road asset inventory, ITS-related applications, high-definition maps, and other highly accurate localization services.
Journal ArticleDOI
Hierarchical reinforcement learning for self-driving decision-making without reliance on labelled driving data
TL;DR: This study presents a hierarchical reinforcement learning method for decision making of self-driving cars, which does not depend on a large amount of labelled driving data and comprehensively considers both high-level manoeuvre selection and low-level motion control in both lateral and longitudinal directions.
References
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Journal ArticleDOI
Recursive 3-D road and relative ego-state recognition
E.D. Dickmanns,B.D. Mysliwetz +1 more
TL;DR: The general problem of recognizing both horizontal and vertical road curvature parameters while driving along the road has been solved recursively and a differential geometry representation decoupled for the two curvature components has been selected.
Proceedings ArticleDOI
Shape-based recognition of 3D point clouds in urban environments
TL;DR: This paper quantitatively evaluate the design of a system for recognizing objects in 3D point clouds of urban environments and tradeoffs of different alternatives in a truthed part of a scan of Ottawa that contains approximately 100 million points and 1000 objects of interest.
Journal ArticleDOI
Review of mobile mapping and surveying technologies
TL;DR: It is suggested that mobile laser scanning systems can mainly be divided into two categories (mapping and surveying) depending on their final purpose, accuracy, range and resolution requirements.
Journal ArticleDOI
Rapidly adapting machine vision for automated vehicle steering
Dean A. Pomerleau,Todd Jochem +1 more
TL;DR: The Ralph vision system helps automobile drivers steer, by sampling an image, assessing the road curvature, and determining the lateral offset of the vehicle relative to the lane center.
Journal ArticleDOI
Recognizing basic structures from mobile laser scanning data for road inventory studies
TL;DR: In this article, a framework for structure recognition from mobile laser scanned point clouds is presented, which starts with an initial rough classification into three larger categories: ground surface, objects on ground, and objects off ground.