Enhance LiDAR pointcloud based on stereo image.
You can obtain the paper by click download.
The following picture shows the ground remove results based on iterated RANSAC method we designed and normal RANSAC method.
The flow diagram of iterated RANSAC is shown below.
The enhanced LiDAR point cloud with higher density is shown below. The blue points are generated by this method.
- Dataset: KITTI (http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d)
- Methods used: AVOD and AVOD-FPN
- Results on val dataset:
- PR curves
- Checkpoints & log file
Download link:https://pan.baidu.com/s/1QcXrRVM3rLc-rh0WbOpOFQ
Key:5vq8