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Technical Note

LiDAR Data Enrichment by Fusing Spatial and Temporal Adjacent Frames

College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
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Author to whom correspondence should be addressed.
Academic Editors: Kyungeun Cho, Pradip Kumar Sharma and Wei Song
Remote Sens. 2021, 13(18), 3640; https://0-doi-org.brum.beds.ac.uk/10.3390/rs13183640
Received: 4 August 2021 / Revised: 6 September 2021 / Accepted: 8 September 2021 / Published: 12 September 2021
In autonomous driving scenarios, the point cloud generated by LiDAR is usually considered as an accurate but sparse representation. In order to enrich the LiDAR point cloud, this paper proposes a new technique that combines spatial adjacent frames and temporal adjacent frames. To eliminate the “ghost” artifacts caused by moving objects, a moving point identification algorithm is introduced that employs the comparison between range images. Experiments are performed on the publicly available Semantic KITTI dataset. Experimental results show that the proposed method outperforms most of the previous approaches. Compared with these previous works, the proposed method is the only method that can run in real-time for online usage. View Full-Text
Keywords: LiDAR data enrichment; moving points identification; multi-frame fusion LiDAR data enrichment; moving points identification; multi-frame fusion
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Figure 1

  • Externally hosted supplementary file 1
    Doi: 10.5281/zenodo.5159320
    Link: https://zenodo.org/record/5159320#.YQqFJ_n7Q2w
    Description: The supplementary file contains a video showing the LiDAR enrichment result of the proposed approach on SemanticKITTI sequence 07 dataset.
MDPI and ACS Style

Fu, H.; Xue, H.; Hu, X.; Liu, B. LiDAR Data Enrichment by Fusing Spatial and Temporal Adjacent Frames. Remote Sens. 2021, 13, 3640. https://0-doi-org.brum.beds.ac.uk/10.3390/rs13183640

AMA Style

Fu H, Xue H, Hu X, Liu B. LiDAR Data Enrichment by Fusing Spatial and Temporal Adjacent Frames. Remote Sensing. 2021; 13(18):3640. https://0-doi-org.brum.beds.ac.uk/10.3390/rs13183640

Chicago/Turabian Style

Fu, Hao, Hanzhang Xue, Xiaochang Hu, and Bokai Liu. 2021. "LiDAR Data Enrichment by Fusing Spatial and Temporal Adjacent Frames" Remote Sensing 13, no. 18: 3640. https://0-doi-org.brum.beds.ac.uk/10.3390/rs13183640

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