A Divide-and-Merge Point Cloud Clustering Algorithm for LiDAR Panoptic Segmentation
Yiming Zhao,Xiao Zhang,Xinming Huang,Yiming Zhao,Xiao Zhang,Xinming Huang
Clustering objects from the LiDAR point cloud is an important research problem with many applications such as autonomous driving. To meet the real-time requirement, existing research proposed to apply the connected-component-labeling (CCL) technique on LiDAR spherical range image with a heuristic condition to check if two neighbor points are connected. However, LiDAR range image is different from ...
