Segmentation et construction de descripteurs appliqués à des nuages de points à grande échelle pour la géolocalisation d'un véhicule semi-autonome

Authors: Rousseau, Kévin
Advisor: Laurendeau, DenisDaniel, Sylvie
Abstract: In this work we present a method to reference two dense point clouds. We begin by analyzing a point cloud of a large number of points, approximately 2 million points collected by a LiDAR mounted on a car, in order to segment this point cloud into surfaces that feature representative regions of the point cloud that are interesting in terms of geometry. Then the construction of descriptors for each segment found is made to identify significant features. These descriptors are the FPFH (Fast Point Feature Histograms) and the surface orientation histogram. Finally, the descriptors collected on two different point clouds of the same outdoor environment are compared to identify similar segments and thus to allow the location of the vehicle in relation to the outdoor environment.
Document Type: Mémoire de maîtrise
Issue Date: 2021
Open Access Date: 20 September 2021
Grantor: Université Laval
Collection:Thèses et mémoires

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