At present, light curtain is a widely-used method to measure the vehicle profile size. However, it is sensitive to temperature, humidity, dust and other weather factors. In this paper, a lidar-based system with a K-frame-based algorithm is proposed for measuring vehicle profile size. The system is composed of left lidar, right lidar, front lidar, control box and industry controlling computer. Within the system, a K-frame-based methodology is investigated, which include several probable algorithm combinations. Three groups of experiments are conducted. An optimal algorithm combination, A16, is determined through the first group experiments. In the second group experiments, various types of vehicles are chosen to verify the generality and repeatability of the proposed system and methodology. The third group experiments are implemented to compare with vision-based methods and other lidar-based methods. The experimental results show that the proposed K-frame-based methodology is far more accurate than the comparative methods.

中文翻译：

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基于激光雷达的系统和基于 K 帧的方法

目前，光幕是一种广泛使用的测量车辆轮廓尺寸的方法。但是，它对温度、湿度、灰尘和其他天气因素很敏感。在本文中，提出了一种基于激光雷达的系统，该系统采用基于 K 帧的算法来测量车辆轮廓尺寸。该系统由左激光雷达、右激光雷达、前激光雷达、控制箱和工控计算机组成。在系统内，研究了基于 K 帧的方法，其中包括几种可能的算法组合。进行三组实验。通过第一组实验确定了最佳算法组合 A16。在第二组实验中，选择了各种类型的车辆来验证所提出的系统和方法的通用性和可重复性。实施第三组实验以与基于视觉的方法和其他基于激光雷达的方法进行比较。实验结果表明，所提出的基于 K 帧的方法比比较方法准确得多。