Object Detection and Segmentation using LiDAR-Camera Fusion for Autonomous Vehicle

Senapati, Mrinal and Anand, Bhaskar and Thakur, Abhishek and Verma, Harshal and Rajalakshmi, P (2021) Object Detection and Segmentation using LiDAR-Camera Fusion for Autonomous Vehicle. In: 5th IEEE International Conference on Robotic Computing, IRC 2021, 15 November 2021through 17 November 2021, Virtual, Online.

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Abstract

The Light detection and ranging (LiDAR) sensor plays a crucial role in perceiving the environment for an autonomous vehicle. But, in many scenarios LiDAR is unable to capture important information, for example, traffic light signals. This kind of scenario can be avoided by using camera images with LiDAR data. But, the system will not work effectively, if there is no proper calibration and synchronization between camera images and LiDAR data. In this paper, we have demonstrated a system, where objects are synchronously detected and segmented in both images and LiDAR data from KITTI datasets. Currently, the system is working in real-time using Robot Operating System (ROS) and can process up to 10 frames of image and point cloud data per second. © 2021 IEEE.

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IITH Creators:	IITH Creators ORCiD Rajalakshmi, P https://orcid.org/0000-0002-7252-6728
Item Type:	Conference or Workshop Item (Paper)
Additional Information:	ACKNOWLEDGMENT This work is supported by the Ministry of Electronics and Information Technology(MeitY), Government of India.
Uncontrolled Keywords:	Camera; Image; LiDAR; Point cloud; ROS
Subjects:	Electrical Engineering
Divisions:	Department of Electrical Engineering
Depositing User:	. LibTrainee 2021
Date Deposited:	12 Sep 2022 06:45
Last Modified:	12 Sep 2022 06:45
URI:	http://raiithold.iith.ac.in/id/eprint/10534
Publisher URL:	http://doi.org/10.1109/IRC52146.2021.00029
Related URLs:	Author Google Scholar

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