A Model-Based Approach for Fast Vehicle Detection in Continuously Streamed Urban LIDAR Point Clouds

  • Attila BörcsEmail author
  • Balázs Nagy
  • Milán Baticz
  • Csaba Benedek
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9008)


Detection of vehicles in crowded 3-D urban scenes is a challenging problem in many computer vision related research fields, such as robot perception, autonomous driving, self-localization, and mapping. In this paper we present a model-based approach to solve the recognition problem from 3-D range data. In particular, we aim to detect and recognize vehicles from continuously streamed LIDAR point cloud sequences of a rotating multi-beam laser scanner. The end-to-end pipeline of our framework working on the raw streams of 3-D urban laser data consists of three steps (1) producing distinct groups of points which represent different urban objects (2) extracting reliable 3-D shape descriptors specifically designed for vehicles, considering the need for fast processing speed (3) executing binary classification on the extracted descriptors in order to perform vehicle detection. The extraction of our efficient shape descriptors provides a significant speedup with and increased detection accuracy compared to a PCA based 3-D bounding box fitting method used as baseline.


Point Cloud Object Classification Object Candidate Vehicle Detection Foreground Region 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Attila Börcs
    • 1
    Email author
  • Balázs Nagy
    • 1
  • Milán Baticz
    • 1
  • Csaba Benedek
    • 1
  1. 1.Distributed Events Analysis Research LaboratoryInstitute for Computer Science and Control of the Hungarian Academy of SciencesBudapestHungary

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