scholarly journals Real-Time Road Segmentation Using LiDAR Data Processing on an FPGA

Author(s):  
Yecheng Lyu ◽  
Lin Bai ◽  
Xinming Huang
Author(s):  
Jianqing Wu ◽  
Hao Xu ◽  
Yuan Sun ◽  
Jianying Zheng ◽  
Rui Yue

The high-resolution micro traffic data (HRMTD) of all roadway users is important for serving the connected-vehicle system in mixed traffic situations. The roadside LiDAR sensor gives a solution to providing HRMTD from real-time 3D point clouds of its scanned objects. Background filtering is the preprocessing step to obtain the HRMTD of different roadway users from roadside LiDAR data. It can significantly reduce the data processing time and improve the vehicle/pedestrian identification accuracy. An algorithm is proposed in this paper, based on the spatial distribution of laser points, which filters both static and moving background efficiently. Various thresholds of point density are applied in this algorithm to exclude background at different distances from the roadside sensor. The case study shows that the algorithm can filter background LiDAR points in different situations (different road geometries, different traffic demands, day/night time, different speed limits). Vehicle and pedestrian shape can be retained well after background filtering. The low computational load guarantees this method can be applied for real-time data processing such as vehicle monitoring and pedestrian tracking.


Author(s):  
Jianqing Wu ◽  
Hao Xu ◽  
Bin Lv ◽  
Rui Yue ◽  
Yang Li

Roadside light detection and ranging (LiDAR) provides a solution to fill the data gap under mixed traffic situations. The real-time high-resolution micro traffic data (HRMTD) of all road users from the roadside LiDAR sensor provides a new opportunity to serve the connected-vehicle system during the transition period from unconnected vehicles to connected vehicles. Ground surface identification is the basic data processing step for HRMTD collection. The current ground points identification algorithms based on airborne and mobile LiDAR do not work for roadside LiDAR. A novel algorithm is developed in this paper to identify and exclude ground points based on the features of LiDAR, terrain, and point density in the space. The scan feature of different beams is used to search ground points. The whole procedure can be divided into four major parts: points clustering in each beam, slope-based filtering, shape-based filtering, and ground points matrix extraction. The proposed algorithm was evaluated using the real-world LiDAR data collected at different scenarios. The results showed that this algorithm can be used for ground points exclusion under different situations (differing terrain types, weather situations, and traffic volumes) with high accuracy. This algorithm was compared with previously developed algorithms. The overall performance of the proposed algorithm is superior. The low computational load guarantees this method may be applied for real-time data processing.


2020 ◽  
Vol 14 ◽  
pp. 174830262096239 ◽  
Author(s):  
Chuang Wang ◽  
Wenbo Du ◽  
Zhixiang Zhu ◽  
Zhifeng Yue

With the wide application of intelligent sensors and internet of things (IoT) in the smart job shop, a large number of real-time production data is collected. Accurate analysis of the collected data can help producers to make effective decisions. Compared with the traditional data processing methods, artificial intelligence, as the main big data analysis method, is more and more applied to the manufacturing industry. However, the ability of different AI models to process real-time data of smart job shop production is also different. Based on this, a real-time big data processing method for the job shop production process based on Long Short-Term Memory (LSTM) and Gate Recurrent Unit (GRU) is proposed. This method uses the historical production data extracted by the IoT job shop as the original data set, and after data preprocessing, uses the LSTM and GRU model to train and predict the real-time data of the job shop. Through the description and implementation of the model, it is compared with KNN, DT and traditional neural network model. The results show that in the real-time big data processing of production process, the performance of the LSTM and GRU models is superior to the traditional neural network, K nearest neighbor (KNN), decision tree (DT). When the performance is similar to LSTM, the training time of GRU is much lower than LSTM model.


2007 ◽  
Vol 46 (22) ◽  
pp. 4879 ◽  
Author(s):  
Valery Shcherbakov

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