Perception: LiDAR

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Perception: LiDAR

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Name / Student Book Number *

Which lecture(s) did you watch? *

Autoware.Auto

Baidu Apollo

Required

Q1. LiDAR is using ... to detect its surroundings. *

1 point

Radio waves

Microwave

Laser light

X Ray

Q2. Which of the following information can be extracted from the LiDAR sensor? *

1 point

Distance

Color

Height

Material

Required

Q3. LiDARs have good performance in *

1 point

Object detection

Lane detection

Dark environment

Bad weather (ex:rainy)

Required

Q4. What are the reasons to apply ROI filtering or Range-Based filtering on point clouds? *

1 point

To down sample the point clouds

To narrow down the search scope

To remove useless data

To create batches of data

Required

Q5. What are the steps of classical lidar perception stack? *

1 point

Ground filtering

Clustering

Shape extraction

Deep learning

Required

Q6. Which one is the fastest ground filtering method? *

1 point

Look at curvature/normals

Fit a big fat plane to the scene

Look at rays/columns in depth image

Factor graphs

Q7. What is the best data structure for Euclidean clustering? *

1 point

Integer lattice/spatial hash

kd-tree

binary tree

hash map

Q8. Why PCA is not perfect for shape extraction? *

1 point

It does not produce the correct orientation

It is too slow

It works only for cars

It works only for pedestrians

Required

Q9. What are the use cases of object detection? *

1 point

Planning (collision detection)

Tracking

Classification

Localization

Required

Q10. Which of the following approaches can be used for object detection using LiDAR data? *

1 point

SVM classification

Deep Learning

Clustering

None of the above

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