3D-LiDARとカメラを用いたリアルタイム物体位置検出

抄録

Traveling in an urban environment, the autonomous mobile robot needs to recognize the surrounding environment in detail. As a conventional method, an obstacle detection method using the 3D point cloud given by LiDAR can be cited. The 3D point cloud given by LiDAR can acquire detailed position information, but it si difficult to recognize what the detected obstacle is. In recent years, object detection using deep learning has attracted attention, leaving detection accuracy exceeding the model base method. However, depth information using a stereo camera is unstable depending on the environment. In this research, we propose a real-time three-dimensional object position detection method by integrating object detection information obtained from a camera and three-dimensional information acquired from 3D-LiDAR.