3D street pole-like object detection and recognition for self-drive car localization

Unprecedented resources have been devoted for autonomous driving worldwide, and Taiwan is no exception. Self-drive bus trials are undergoing among major cities including Taipei, Taoyuan, Taichung and Kaoshiung. One of the most important tasks for self-drive bus navigation is to localize itself based on landmarks of pre-built 3D semantic maps. This paper investigates street pole-like object detection and recognition from the 3D point cloud data. Both traditional covariance and new AI-based deep learning techniques are used to evaluate the results.