Real-Time Obstacle Detection using a Pillar-based Representation and a Parallel Architecture on the GPU from LiDAR Measurements

Mircea Paul Muresan, Robert Schlanger, Radu Danescu, Sergiu Nedevschi

2023

Abstract

In contrast to image-based detection, objects detected from 3D LiDAR data can be localized easier and their shapes are easier identified by using depth information. However, the 3D LiDAR object detection task is more difficult due to factors such as the sparsity of the point clouds and highly variable point density. State-of-the-art learning approaches can offer good results; however, they are limited by the data from the training set. Simple models work only in some environmental conditions, or with specific object classes, while more complex models require high running time, increased computing resources and are unsuitable for real-time applications that have multiple other processing modules. This paper presents a GPU-based approach for detecting the road surface and objects from 3D LiDAR data in real-time. We first present a parallel working architecture for processing 3D points. We then describe a novel road surface estimation approach, useful in separating the ground and object points. Finally, an original object clustering algorithm that is based on pillars is presented. The proposed solution has been evaluated using the KITTI dataset and has also been tested in different environments using different LiDAR sensors and computing platforms to verify its robustness.

Paper Citation

in Harvard Style

Paul Muresan M., Schlanger R., Danescu R. and Nedevschi S. (2023). Real-Time Obstacle Detection using a Pillar-based Representation and a Parallel Architecture on the GPU from LiDAR Measurements. In Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 5: VISAPP; ISBN 978-989-758-634-7, SciTePress, pages 779-787. DOI: 10.5220/0011781900003417

in Bibtex Style

@conference{visapp23,
author={Mircea Paul Muresan and Robert Schlanger and Radu Danescu and Sergiu Nedevschi},
title={Real-Time Obstacle Detection using a Pillar-based Representation and a Parallel Architecture on the GPU from LiDAR Measurements},
booktitle={Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 5: VISAPP},
year={2023},
pages={779-787},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011781900003417},
isbn={978-989-758-634-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 5: VISAPP
TI - Real-Time Obstacle Detection using a Pillar-based Representation and a Parallel Architecture on the GPU from LiDAR Measurements
SN - 978-989-758-634-7
AU - Paul Muresan M.
AU - Schlanger R.
AU - Danescu R.
AU - Nedevschi S.
PY - 2023
SP - 779
EP - 787
DO - 10.5220/0011781900003417
PB - SciTePress