학술논문
Adaptive Two-Stage Filter for De-snowing LiDAR Point Clouds
Document Type
Conference
Source
2022 International Conference on Control, Robotics and Informatics (ICCRI) ICCRI Control, Robotics and Informatics (ICCRI), 2022 International Conference on. :38-42 Apr, 2022
Subject
Language
Abstract
The Light Detection And Ranging (LiDAR) is integrated into self-driving cars to enhance system reliability. Unfortunately, its effectiveness is severely limited under the extreme weather conditions such as rain, fog, and cloud. This paper proposes an adaptive filter that can remove snow particles (de-snowing) from raw LiDAR point clouds. The proposed method adopts the intensity threshold with a two-stage filter that provides outstanding performance on both accuracy (98%) and processing speed (1.42 frames per second) under extreme environment for the autonomous driving system.