A temporal filter approach for detection and reconstruction of curbs and road surfaces based on Conditional Random Fields
- 1 June 2011
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 637-642
- https://doi.org/10.1109/ivs.2011.5940447
Abstract
A temporal filter approach for real-time detection and reconstruction of curbs and road surfaces from 3D point clouds is presented. Instead of local thresholding, as used in many other approaches, a 3D curb model is extracted from the point cloud. The 3D points are classified to different parts of the model (i.e. road and sidewalk) using a temporally integrated Conditional Random Field (CRF). The parameters of curb and road surface are then estimated from the respectively assigned points, providing a temporal connection via a Kalman filter.Keywords
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