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Found 2 papers, 1 papers with code
Weighted Bayesian Gaussian Mixture Model for Roadside LiDAR Object Detection
In early studies, the probabilistic background modeling methods widely used for the video-based system were considered unsuitable for roadside LiDAR surveillance systems due to the sparse and unstructured point cloud data.
Roadside Lidar Vehicle Detection and Tracking Using Range And Intensity Background Subtraction
After that, the raw LiDAR data were rearranged into new data structures to store the information of range, azimuth, and intensity.
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