Naslov
Uočavanje strukturalnih pravilnosti u prometnom okruženju iz oblaka točaka laserskog senzora udaljenosti
(Detection of structural regularities in traffic environments from laser range sensor point clouds)

Autori
Bataljak-Savić, Tibor

Vrsta, podvrsta i kategorija rada
Ocjenski radovi, diplomski rad, diplomski

Mjesto
Zagreb

Datum
13.07

Godina
2022

Stranica
40

Mentor
Marković, Ivan

Neposredni voditelj
Popović, Goran

Ključne riječi
autonomna vožnja ; detekcija rubnika ; prometni scenariji ; laserski senzori
(autonomous driving ; curb detection ; traffic scenarios ; laser sensors)

Sažetak
For mobile platform autonomy, it is opportune to use the regularity of structures that appear in human environments, for example the traffic. Examples of such regularities are traffic signs, traffic lanes and road curbs that separate the automobile from the pedestrian area. Laser range sensors are often used sensors on mobile platforms for autonomous driving due to high range measurement accuracy with respect to other sensors. In this thesis an algorithm is developed which can detect objects with structural regularities, like the road curb, from the point cloud measured with laser range sensor and its’ peformance is validated. The algorithm is based on calculating geometric features to detect curbs and a particle filter to filter the detection results.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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