Journal ArticleDOI
Octree-based region growing for point cloud segmentation
TLDR
Empirical studies show the proposed approach to be at least an order of magnitude faster when compared to a conventional region growing method and able to incorporate semantic-based feature criteria, while achieving precision, recall, and fitness scores of at least 75% and as much as 95%.Abstract:
This paper introduces a novel, region-growing algorithm for the fast surface patch segmentation of three-dimensional point clouds of urban environments. The proposed algorithm is composed of two stages based on a coarse-to-fine concept. First, a region-growing step is performed on an octree-based voxelized representation of the input point cloud to extract major (coarse) segments. The output is then passed through a refinement process. As part of this, there are two competing factors related to voxel size selection. To balance the constraints, an adaptive octree is created in two stages. Empirical studies on real terrestrial and airborne laser scanning data for complex buildings and an urban setting show the proposed approach to be at least an order of magnitude faster when compared to a conventional region growing method and able to incorporate semantic-based feature criteria, while achieving precision, recall, and fitness scores of at least 75% and as much as 95%.read more
Citations
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Journal ArticleDOI
Perception, Planning, Control, and Coordination for Autonomous Vehicles
Scott Pendleton,Hans Andersen,Xinxin Du,Xiaotong Shen,Malika Meghjani,You Hong Eng,Daniela Rus,Marcelo H. Ang +7 more
TL;DR: In this paper, the authors provide a general overview of the recent developments in the realm of autonomous vehicle software systems, and discuss the fundamental components of the software, as well as recent developments of each area.
Journal ArticleDOI
Deep Learning Advances in Computer Vision with 3D Data: A Survey
TL;DR: It is concluded that systems employing 2D views of 3D data typically surpass voxel-based (3D) deep models, which however, can perform better with more layers and severe data augmentation, therefore, larger-scale datasets and increased resolutions are required.
Journal ArticleDOI
A review ofpoint clouds segmentation and classification algorithms
TL;DR: The most popular methodologies and algorithms to segment and classify 3D point clouds are analyzed to provide 3D data with meaningful attributes that characterize and provide significance to the objects represented in 3D.
Journal ArticleDOI
An Improved RANSAC for 3D Point Cloud Plane Segmentation Based on Normal Distribution Transformation Cells
TL;DR: An improved RANSAC method based on Normal Distribution Transformation (NDT) cells is proposed in this study to avoid spurious planes for 3D point-cloud plane segmentation and is verified on three indoor scenes to validate the suitability of the method.
Journal ArticleDOI
Linking Points With Labels in 3D: A Review of Point Cloud Semantic Segmentation
TL;DR: In this paper, the authors provide a needed up-to-date review of recent developments in 3D Point Cloud Semantic Segmentation (PCSS) and discuss important issues and open questions.
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