Vehicle classification from laser scanners using fisher and profile signatures
First Claim
1. A method for vehicle classification utilizing a laser scanner, said method comprising:
- scanning at least one vehicle with a laser scanner comprising a time-of-flight measuring device that emits short pulses of light toward said at least one vehicle to generate scanned data, said scanning is repeated in a varying set of angles and each scan covers a linear row up to 100 degrees, wherein a number of rows depending on the length and/or speed of the vehicle;
compiling with a processor data indicative of an optical profile of said at least one vehicle from said scanned data generated from said laser scanner;
signal pre-processing with said processor said optical profile associated with said at least one vehicle, wherein said optical profile comprises a laser profile that is pre-processed with said processor wherein an input for all feature descriptors comprises a 2D cropped laser signal corresponding to a largest component in an original laser profile with respect to said laser profile;
extracting with said processor particular features from said optical profile after preprocessing said optical profile, said particular features including at least two attribute features extracted by segmenting said laser profile into units with threshold heuristics; and
classifying with at least one trained classifier said at least one vehicle based on said particular features extracted from said optical profile, said at least one trained classifier comprising a one-versus all linear classifier.
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Abstract
Methods, systems and processor-readable media for vehicle classification. In general, one or more vehicles can be scanned utilizing a laser scanner to compile data indicative of an optical profile of the vehicle(s). The optical profile associated with the vehicle(s) is then pre-processed. Particular features are extracted from the optical profile following pre-processing of the optical profile. The vehicle(s) can be then classified based on the particular features extracted from the optical feature. A segmented laser profile is treated as an image and profile features that integrate the signal in one of the two directions of the image and Fisher vectors which aggregate statistics of local “patches” of the image are computed and utilized as part of the extraction and classification process.
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Citations
20 Claims
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1. A method for vehicle classification utilizing a laser scanner, said method comprising:
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scanning at least one vehicle with a laser scanner comprising a time-of-flight measuring device that emits short pulses of light toward said at least one vehicle to generate scanned data, said scanning is repeated in a varying set of angles and each scan covers a linear row up to 100 degrees, wherein a number of rows depending on the length and/or speed of the vehicle; compiling with a processor data indicative of an optical profile of said at least one vehicle from said scanned data generated from said laser scanner; signal pre-processing with said processor said optical profile associated with said at least one vehicle, wherein said optical profile comprises a laser profile that is pre-processed with said processor wherein an input for all feature descriptors comprises a 2D cropped laser signal corresponding to a largest component in an original laser profile with respect to said laser profile; extracting with said processor particular features from said optical profile after preprocessing said optical profile, said particular features including at least two attribute features extracted by segmenting said laser profile into units with threshold heuristics; and classifying with at least one trained classifier said at least one vehicle based on said particular features extracted from said optical profile, said at least one trained classifier comprising a one-versus all linear classifier. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for vehicle classification utilizing a laser scanner, said system comprising:
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at least one laser scanner comprising a time-of-flight measuring device that emits short pulses of light toward said at least one vehicle to generate scanned data, said scanning is repeated in a varying set of angles and each scan covers a linear row up to 100 degrees, wherein a number of rows depending on the length and/or speed of the vehicle; at least one processor that communicates with said at least one laser scanner; and a non-transitory computer-usable medium embodying computer program code, said non-transitory computer-usable medium communicating with said at least one processor, said computer program code comprising instructions executable by said at least one processor and configured for; scanning at least one vehicle with said at least one laser scanner to compile data indicative of an optical profile of said at least one vehicle; signal pre-processing said optical profile associated with said at least one vehicle, wherein said optical profile comprises a laser profile that is pre-processed with said processor wherein an input for all feature descriptors comprises a 2D cropped laser signal corresponding to a largest component in an original laser profile with respect to said laser profile; extracting particular features from said optical profile after preprocessing said optical profile, said particular features including at least two attribute features extracted by segmenting said laser profile into units with threshold heuristics; and classifying with at least one trained classifier said at least one vehicle based on said particular features extracted from said optical profile, said at least one trained classifier comprising a one-versus all linear classifier. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory processor-readable medium storing code representing instructions to cause a process for vehicle classification utilizing a laser scanner, said code comprising code to:
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scan at least one vehicle utilizing a laser scanner to compile data indicative of an optical profile of said at least one vehicle, said scanning is repeated in a varying set of angles and each scan covers a linear row up to 100 degrees, wherein a number of rows depending on the length and/or speed of the vehicle; pre-process said optical profile associated with said at least one vehicle, wherein said optical profile comprises a laser profile that is preprocessed with said processor wherein an input for all feature descriptors comprises a 2D cropped laser signal corresponding to a largest component in an original laser profile with respect to said laser profile; extract particular features from said optical profile after preprocessing said optical profile, said particular features including at least two attribute features extracted by segmenting said laser profile into units with threshold heuristics; and classify said at least one vehicle with at least one trained classifier based on said particular features extracted from said optical feature, said at least one trained classifier comprising a one-versus all linear classifier. - View Dependent Claims (18, 19, 20)
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Specification