GndNet: Fast Ground Plane Estimation and Point Cloud Segmentation for Autonomous Vehicles

Ground plane estimation and ground point segmentation is a crucial precursor for many applications in robotics and intelligent vehicles like navigable space detection and occupancy grid generation, 3D object detection, point cloud matching for localization and registration for mapping. In this paper...

Full description

Saved in:
Bibliographic Details
Main Authors: Paigwar, Anshul, Erkent, Ozgur, Sierra-Gonzalez, David, Laugier, Christian
Format: Conference Proceeding
Language:English
Subjects:
Encoding
Estimation
Feature extraction
Space vehicles
Spatial databases
Three-dimensional displays
Training
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Ground plane estimation and ground point segmentation is a crucial precursor for many applications in robotics and intelligent vehicles like navigable space detection and occupancy grid generation, 3D object detection, point cloud matching for localization and registration for mapping. In this paper, we present GndNet, a novel end-to-end approach that estimates the ground plane elevation information in a grid-based representation and segments the ground points simultaneously in real-time. GndNet uses PointNet and Pillar Feature Encoding network to extract features and regresses ground height for each cell of the grid. We augment the SemanticKITTI dataset to train our network. We demonstrate qualitative and quantitative evaluation of our results for ground elevation estimation and semantic segmentation of point cloud. GndNet establishes a new state-of-the-art, achieves a run-time of 55Hz for ground plane estimation and ground point segmentation.
ISSN:2153-0866
DOI:10.1109/IROS45743.2020.9340979