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Vision Based Lidar Segmentation for Accelerated Scan Matching

Burtin. Gabriel1, Bonnin Patrick2, Nadiatulhuda Zulkifli 1, Malartre Florent1,
1. 4D-Virtualiz, Clermont-Ferrand, France
2. LISV, Velizy, France

Abstract—A vision based algorithm brings fast segmentation process to a 2D lidar point cloud. Extracted features allow us to set up a segment based scan matcher. This matching is one of the steps for the localization. Features also give semantic information about the environment. The detection of a corner or a door indicates a potential encounter with human beings. Aware of this “danger” area, the robot will be able to adapt its speed and define areas of focus to the vision algorithms. Indeed, vision is known for its high computation load. The focus provided by the lidar diminish the area in the image to be analysed and reduce the load.

Index Terms
—2D lidar segmentation, scan matching, safe navigation, sensor fusion, indoor environment

Cite: Burtin. Gabriel, Bonnin Patrick, and Malartre Florent, "Vision Based Lidar Segmentation for Accelerated Scan Matching," Journal of Communications, vol. 13, no. 3, pp. 139-144, 2018. Doi: 10.12720/jcm.13.3.139-144.