基于稀疏点云的ADAS三维地图构建方法

发布时间：2018-03-06 09:34

  本文选题：ADAS　切入点：机载LiDAR　出处：《地理空间信息》2016年07期 　论文类型：期刊论文

【摘要】：提出了一种基于机载LiDAR稀疏点云与已有道路二维导航地图快速构建ADAS三维地图的方法。通过稀疏点云与导航地图拓扑叠加分析和三维空间关系检验,实现了对复杂道路结构的高程平滑和面向ADAS的道路三维地图构建。以香港地区ADAS地图为例,采用该方法进行了三维地图构建。结果表明,该方法合理且效率高,精度满足先进自动驾驶三维地图要求。
[Abstract]:A method of constructing ADAS 3D map based on airborne LiDAR sparse point cloud and existing 2D navigation map is proposed. The topological superposition analysis of sparse point cloud and navigation map and the three dimensional spatial relationship test are carried out. The elevation smoothing and ADAS oriented 3D map construction of complex road structure is realized. Taking the ADAS map of Hong Kong as an example, the 3D map construction is carried out by using this method. The results show that the method is reasonable and efficient. The precision meets the requirement of three-dimensional map of advanced self-driving.
【作者单位】： 武汉大学遥感信息工程学院;
【基金】：国家自然科学基金资助项目(41271452)
【分类号】：P208;P283.7
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本文编号：1574284