Range-Image: Incorporating sensor topology for LiDAR point cloud processing

Abstract : This paper proposes a novel methodology for LiDAR point cloud processing that takes advantage of the implicit topology of various LiDAR sensors to derive 2D images from the point cloud while bringing spatial structure to each point. The interest of such a methodology is then proved by addressing the problems of segmentation and disocclusion of mobile objects in 3D LiDAR scenes acquired via street-based Mobile Mapping Systems (MMS). Most of the existing lines of research tackle those problems directly in the 3D space. This work promotes an alternative approach by using this image representation of the 3D point cloud, taking advantage of the fact that the problem of disocclusion has been intensively studied in the 2D image processing community over the past decade. Using the image derived from the sensor data by exploiting the sensor topology, a semi-automatic segmentation procedure based on depth histograms is presented. Then, a variational image inpainting technique is introduced to reconstruct the areas that are occluded by objects. Experiments and validation on real data prove the effectiveness of this methodology both in terms of accuracy and speed.
Type de document :
Article dans une revue
PE&RS Photogrammetric Engineering & Remote Sensing, ASPRS American Society for Photogrammetry and Remote Sensing, In press
Liste complète des métadonnées

Littérature citée [35 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01756975
Contributeur : Pierre Biasutti <>
Soumis le : mardi 3 avril 2018 - 11:39:01
Dernière modification le : lundi 11 juin 2018 - 11:37:17

Fichier

asprs_2017_range.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01756975, version 1

Collections

Citation

Pierre Biasutti, Jean-François Aujol, M Brédif, Aurélie Bugeau. Range-Image: Incorporating sensor topology for LiDAR point cloud processing. PE&RS Photogrammetric Engineering & Remote Sensing, ASPRS American Society for Photogrammetry and Remote Sensing, In press. 〈hal-01756975〉

Partager

Métriques

Consultations de la notice

100

Téléchargements de fichiers

138