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LiDAR-based Vehicle Localization and Velocity Measurement in Long Corridors

This paper focuses on improving the roadside vehicle localization and speed measurement system for a security inspection company. First, a horizontally mounted LiDAR is added to the original system to meet the demand for whole-process vehicle detection in long corridors. A simulation environment is...

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Main Authors:	Tu, Junjie, Pan, Yemo, Lv, Hongbo
Format:	Conference Proceeding
Language:	English
Subjects:	Accuracy Companies Inspection Laser radar Location awareness long corridors multi-LiDAR Real-time systems relay speed measurement ROS2 Security Soft sensors vehicle location Vehicles Velocity measurement
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creator	Tu, Junjie Pan, Yemo Lv, Hongbo
description	This paper focuses on improving the roadside vehicle localization and speed measurement system for a security inspection company. First, a horizontally mounted LiDAR is added to the original system to meet the demand for whole-process vehicle detection in long corridors. A simulation environment is created using Webots, providing necessary data sources to test and validate algorithms, with ROS2(Robot Operating System 2) to enhancing real-time system performance and task prioritization management. Then, dynamic threshold is employed to identify the cab-trailer separation of truck and prevent the radiation exposure from X-ray machine to the driver during inspection. A weighted average fusion method, incorporating distance and intensity, is used to enhance the accuracy of the system's detection scheme. Finally, experimental results show that the improved system has better accuracy, stability, real-time performance, and portability.
doi_str_mv	10.1109/IRCE62232.2024.10739826
format	conference_proceeding
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fulltext	fulltext_linktorsrc
identifier	EISSN: 2770-4815
ispartof	International Conference on Intelligent Robotic and Control Engineering (Online), 2024, p.253-256
issn	2770-4815
language	eng
recordid	cdi_ieee_primary_10739826
source	IEEE Xplore All Conference Series
subjects	Accuracy Companies Inspection Laser radar Location awareness long corridors multi-LiDAR Real-time systems relay speed measurement ROS2 Security Soft sensors vehicle location Vehicles Velocity measurement
title	LiDAR-based Vehicle Localization and Velocity Measurement in Long Corridors
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