Abstract
This paper presents a new object classification method using range and reflectance data obtained by a laser scanner. Several laser scanners produce not only range data but also reflectance which shows the power of reflected laser as a side product of range data. The proposed method utilizes both information for object classification. Since laser reflectance contains appearance information, the proposed method classifies objects based on their shapes and appearances from range and reflectance data. Moreover, we extend the conventional Histogram of Oriented Gradients (HOG) so that it couples geometrical and appearance information more tightly. We show the validity of the proposed method through experiments in real scene.
