Laser point clouds data association decision based on discriminative graphical model

作者：Sun Zuo Lei^*; Zhang Bo; Zeng Lian Sun; Zhu Da Qi

来源：Kongzhi yu Juece/Control and Decision, 2014, 29(5).

DOI：10.13195/j.kzyjc.2013.0004

• Data association
• Decision algorithms
• GraphicaL model
• Intelligent management
• Laser point
• Maximum a posteriori
• Probabilistic inference
• Pseudo-likelihood

A laser point clouds data association decision algorithm is proposed. The multi-geometric feature extraction and intelligent management for the laser point clouds are investigated with the discriminative graphical model. The maximum pseudo-likelihood learning is employed to optimize the weights of the local and pairwise features. And the states of the hidden nodes in the graph are estimated with max-sum probabilistic inference. Furthermore, the laser point association is tackled as the maximum a posteriori (MAP) configuration backtracking problem. The experiment results demonstrate that the proposed algorithm outperforms traditional algorithms.

• 单位
  上海海事大学