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Technology of Graphic & Image
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2179-2182

Multi-frame point cloud fusion algorithm based on IMU and dynamic target detection

Liu Huixi
Chen Wenhao
Liu Shouyin
College of Physical Science & Technology, Central China Normal University, Wuhan 430079, China

Abstract

For the problem of poor environmental perception effect due to the sparse point cloud data of 16-line LiDAR, this paper developed a multi-frame point cloud data fusion algorithm based on inertial measurement unit and dynamic target detection. The algorithm used the pose information provided by the inertial measurement unit to fuse the static object parts in the point cloud, and used dynamic target detection to complete the fusion of the dynamic object parts, which could not only speed up the point cloud fusion speed, but also reduced the offset of the moving points cloud. It could effectively increase the point cloud density while saving costs. The result shows that the algorithm has good effect in point cloud fusion and has high application value in the perception of unmanned driving environment.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2020.07.0265
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 7
Section: Technology of Graphic & Image
Pages: 2179-2182
Serial Number: 1001-3695(2021)07-049-2179-04

Publish History

[2021-07-05] Printed Article

Cite This Article

刘辉席, 陈文浩, 刘守印. 基于IMU和动态目标检测的多帧点云融合算法 [J]. 计算机应用研究, 2021, 38 (7): 2179-2182. (Liu Huixi, Chen Wenhao, Liu Shouyin. Multi-frame point cloud fusion algorithm based on IMU and dynamic target detection [J]. Application Research of Computers, 2021, 38 (7): 2179-2182. )

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  • Application Research of Computers Monthly Journal
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    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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