Traffic recognition and adaptive ground removal based on LIDAR point cloud statistics
Abstract:
An advanced driver assistance system (ADAS) and method for a vehicle utilize a light detection and ranging (LIDAR) system configured to emit laser light pulses and capture reflected laser light pulses collectively forming three-dimensional (3D) LIDAR point cloud data and a controller configured to receive the 3D LIDAR point cloud data divide the 3D LIDAR point cloud data into a plurality of cells corresponding to distinct regions surrounding the vehicle, generate a histogram comprising a calculated height difference between a maximum height and a minimum height in the 3D LIDAR point cloud data for each cell of the plurality of cells, and using the histogram, perform at least one of adaptive ground removal from the 3D LIDAR point cloud data and traffic level recognition.
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