Raster-Based Background Filtering for Roadside LiDAR Data

The roadside deployed light detecting and ranging (LiDAR) has been a solution to fill the data gap for the transition period from the unconnected-vehicles environment to the connected-vehicles system. For the roadside LiDAR system, background filtering is an initial but important step. This paper presented a raster-based method for background filtering with roadside LiDAR data. The proposed method contains four major parts: region of interest (ROI) selection, rasterization, background area detection, and background array generation. The location of the background points was stored in a 3D array. The performance of the raster-based method was tested with the data collected at different scenarios. The comparison to the state-of-the-art also confirmed the robustness of the proposed method.