Polar-Grid Representation and Kriging-Based 2.5D Interpolation for Urban Environment Modelling

In this paper a spatial interpolation approach, based on polar-grid representation and Kriging predictor, is proposed for 3D point cloud sampling. Discrete grid representation is a widely used technique because of its simplicity and capacity of providing an efficient and compact representation, allowing subsequent applications such as artificial perception and autonomous navigation. Two-dimensional occupancy grid representations have been studied extensively in the past two decades, and recently 2.5D and 3D grid-based approaches dominate current applications. A key challenge in perception systems for vehicular applications is to balance low computational complexity and reliable data interpretation. To this end, this paper contributes with a discrete 2.5D polar-grid that upsamples the input data, i.e. sparse 3D point cloud, by means of a deformable kriging-based interpolation strategy. Experiments carried out on the KITTI dataset, using data from a LIDAR, demonstrate that the approach proposed in this work allows a proper representation of urban environments.

• Record URL:
  • https://doi.org/10.1109/ITSC.2015.203
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/isbn/9781467365956
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Premebida, Cristiano
  • Sousa, Joao
  • Garrote, Luis
  • Nunes, Urbano
• Conference:
  • 18th International IEEE Conference on Intelligent Transportation Systems (ITSC)
  • Location: Canary Islands , Spain
  • Date: 2015-9-15 to 2015-9-18
• Publication Date: 2015

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 1234-1239
• Monograph Title: 18th International IEEE Conference on Intelligent Transportation Systems (ITSC 2015)

Subject/Index Terms

• TRT Terms: Computer models; Intelligent vehicles; Interpolation; Spatial analysis; Urban areas
• Uncontrolled Terms: 3D point cloud; Computational complexity; Data interpretation; Kriging; Polar-grid representation
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01600675
• Record Type: Publication
• ISBN: 9781467365956
• Files: TRIS
• Created Date: May 30 2016 4:39PM