scholarly journals Obstacle Detection Based on 3D Lidar Euclidean Clustering

2021 ◽  
Vol 5 (3) ◽  
pp. p39
Author(s):  
Chen Jinming
Keyword(s):  
Point Cloud ◽  
Detection Algorithm ◽  
Research Area ◽  
Obstacle Detection ◽  
Location Information ◽  
Ground Point ◽  
Environment Perception ◽  
Function Module ◽  
Library Function ◽  
3D Lidar

Environment perception is the basis of unmanned driving and obstacle detection is an important research area of environment perception technology. In order to quickly and accurately identify the obstacles in the direction of vehicle travel and obtain their location information, combined with the PCL (Point Cloud Library) function module, this paper designed a euclidean distance based Point Cloud clustering obstacle detection algorithm. Environmental information was obtained by 3D lidar, and ROI extraction, voxel filtering sampling, outlier point filtering, ground point cloud segmentation, Euclide clustering and other processing were carried out to achieve a complete PCL based 3D point cloud obstacle detection method. The experimental results show that the vehicle can effectively identify the obstacles in the area and obtain their location information.

scholarly journals Real-time Track Obstacle Detection from 3D LIDAR Point Cloud

2021 ◽  
Vol 1910 (1) ◽  
pp. 012002
Author(s):  
Chao He ◽  
Jiayuan Gong ◽  
Yahui Yang ◽  
Dong Bi ◽  
Jianpin Lan ◽  
...  
Keyword(s):  
Real Time ◽  
Point Cloud ◽  
Obstacle Detection ◽  
3D Lidar

A Fast Obstacle Detection Algorithm for Mobile Robots and Its Application

ROBOT ◽  
2011 ◽  
Vol 33 (2) ◽  
pp. 198-201 ◽  
Author(s):  
Xiaochuan ZHAO ◽  
Peizhi LIU ◽  
Min ZHANG ◽  
Lihui YANG ◽  
Jianchang SHI
Keyword(s):  
Mobile Robots ◽  
Detection Algorithm ◽  
Obstacle Detection

scholarly journals Modelling community structure and temporal spreading on complex networks

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Vesa Kuikka
Keyword(s):  
Community Structure ◽  
Complex Networks ◽  
Community Detection ◽  
Network Structure ◽  
Network Connectivity ◽  
Network Models ◽  
Building Blocks ◽  
Detection Algorithm ◽  
Research Area ◽  
Detection Methods

AbstractWe present methods for analysing hierarchical and overlapping community structure and spreading phenomena on complex networks. Different models can be developed for describing static connectivity or dynamical processes on a network topology. In this study, classical network connectivity and influence spreading models are used as examples for network models. Analysis of results is based on a probability matrix describing interactions between all pairs of nodes in the network. One popular research area has been detecting communities and their structure in complex networks. The community detection method of this study is based on optimising a quality function calculated from the probability matrix. The same method is proposed for detecting underlying groups of nodes that are building blocks of different sub-communities in the network structure. We present different quantitative measures for comparing and ranking solutions of the community detection algorithm. These measures describe properties of sub-communities: strength of a community, probability of formation and robustness of composition. The main contribution of this study is proposing a common methodology for analysing network structure and dynamics on complex networks. We illustrate the community detection methods with two small network topologies. In the case of network spreading models, time development of spreading in the network can be studied. Two different temporal spreading distributions demonstrate the methods with three real-world social networks of different sizes. The Poisson distribution describes a random response time and the e-mail forwarding distribution describes a process of receiving and forwarding messages.

scholarly journals Emergency Landing Spot Detection Algorithm for Unmanned Aerial Vehicles

2021 ◽  
Vol 13 (10) ◽  
pp. 1930
Author(s):  
Gabriel Loureiro ◽  
André Dias ◽  
Alfredo Martins ◽  
José Almeida
Keyword(s):  
Point Cloud ◽  
Principal Component ◽  
Detection Algorithm ◽  
Cloud Data ◽  
Safety Issues ◽  
Spot Detection ◽  
Cloud Clusters ◽  
Aerial Vehicle ◽  
Incoming Light ◽  
Landing Spot

The use and research of Unmanned Aerial Vehicle (UAV) have been increasing over the years due to the applicability in several operations such as search and rescue, delivery, surveillance, and others. Considering the increased presence of these vehicles in the airspace, it becomes necessary to reflect on the safety issues or failures that the UAVs may have and the appropriate action. Moreover, in many missions, the vehicle will not return to its original location. If it fails to arrive at the landing spot, it needs to have the onboard capability to estimate the best area to safely land. This paper addresses the scenario of detecting a safe landing spot during operation. The algorithm classifies the incoming Light Detection and Ranging (LiDAR) data and store the location of suitable areas. The developed method analyses geometric features on point cloud data and detects potential right spots. The algorithm uses the Principal Component Analysis (PCA) to find planes in point cloud clusters. The areas that have a slope less than a threshold are considered potential landing spots. These spots are evaluated regarding ground and vehicle conditions such as the distance to the UAV, the presence of obstacles, the area’s roughness, and the spot’s slope. Finally, the output of the algorithm is the optimum spot to land and can vary during operation. The proposed approach evaluates the algorithm in simulated scenarios and an experimental dataset presenting suitability to be applied in real-time operations.

scholarly journals Distributed Beacon Drifting Detection for Localization in Unstable Environments

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Ming Xia ◽  
Peiliang Sun ◽  
Xiaoyan Wang ◽  
Yan Jin ◽  
Qingzhang Chen
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Detection Algorithm ◽  
Experimental Results ◽  
Sensor Nodes ◽  
Wireless Sensor ◽  
Location Information ◽  
Detection Accuracy ◽  
Research Issue ◽  
Fundamental Research

Localization is a fundamental research issue in wireless sensor networks (WSNs). In most existing localization schemes, several beacons are used to determine the locations of sensor nodes. These localization mechanisms are frequently based on an assumption that the locations of beacons are known. Nevertheless, for many WSN systems deployed in unstable environments, beacons may be moved unexpectedly; that is, beacons are drifting, and their location information will no longer be reliable. As a result, the accuracy of localization will be greatly affected. In this paper, we propose a distributed beacon drifting detection algorithm to locate those accidentally moved beacons. In the proposed algorithm, we designed both beacon self-scoring and beacon-to-beacon negotiation mechanisms to improve detection accuracy while keeping the algorithm lightweight. Experimental results show that the algorithm achieves its designed goals.

A noise-robust obstacle detection algorithm for mobile robots using active 3D sensors

2014 ◽  
Author(s):  
Andrea Claudi ◽  
Daniele Accattoli ◽  
Paolo Sernani ◽  
Paolo Calvaresi ◽  
Aldo Franco Dragoni
Keyword(s):  
Mobile Robots ◽  
Detection Algorithm ◽  
Obstacle Detection ◽  
Noise Robust
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