Dynamic Vehicle Detection With Sparse Point Clouds Based on PE-CPD

Detecting dynamic vehicles is of great significance in the field of autonomous vehicles. In the literature, a few vehicle detection methods are proposed to detect vehicles within 50 m from the Lidar, where the point clouds are relatively dense. It is a great challenge to detect vehicles that are far from the Lidar because of sparse point clouds. Fewer returned point clouds will result in a larger fitting randomness and lower detection rate. To …