Spherically Stratified Point Projection: Feature Image Generation for Object Classification Using 3D LiDAR Data

Three-dimensional point clouds have been utilized and studied for the classification of objects at the environmental level. While most existing studies, such as those in the field of computer vision, have detected object type from the perspective of sensors, this study developed a specialized strate...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2021-11, Vol.21 (23), p.7860
Main Authors: Bae, Chulhee, Lee, Yu-Cheol, Yu, Wonpil, Lee, Sejin
Format: Article
Language:English
Subjects:
Algorithms
Classification
Clouds
Color imagery
Computer vision
Data points
Datasets
Deep learning
feature image
Image classification
Image processing
Occupancy
Performance evaluation
point cloud
semantic labeling
Sensors
spherically stratified point project
Teaching methods
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Summary:Three-dimensional point clouds have been utilized and studied for the classification of objects at the environmental level. While most existing studies, such as those in the field of computer vision, have detected object type from the perspective of sensors, this study developed a specialized strategy for object classification using LiDAR data points on the surface of the object. We propose a method for generating a spherically stratified point projection (sP2) feature image that can be applied to existing image-classification networks by performing pointwise classification based on a 3D point cloud using only LiDAR sensors data. The sP2’s main engine performs image generation through spherical stratification, evidence collection, and channel integration. Spherical stratification categorizes neighboring points into three layers according to distance ranges. Evidence collection calculates the occupancy probability based on Bayes’ rule to project 3D points onto a two-dimensional surface corresponding to each stratified layer. Channel integration generates sP2 RGB images with three evidence values representing short, medium, and long distances. Finally, the sP2 images are used as a trainable source for classifying the points into predefined semantic labels. Experimental results indicated the effectiveness of the proposed sP2 in classifying feature images generated using the LeNet architecture.
ISSN:1424-8220
1424-8220
DOI:10.3390/s21237860