On board 3D object perception in dynamic urban scenes

In urban environments, object recognition and road monitoring are key issues for driving assistance systems or autonomous vehicles. This paper presents a LIDAR-based perception system which provides reliable detection of 3D urban objects from point cloud sequences of a Velodyne HDL-64E terrestrial LIDAR scanner installed on a moving platform. As for the output of the system, we perform real-time localization and identification of typical urban objects, such as traffic signs, vehicles or crosswalks. In contrast to most existing works, the proposed algorithm does not use hand-labeled training datasets to perform object classification. Experimental results are carried out on real LIDAR measurements in the streets of Budapest, Hungary.