Efficient segmentation of 3D LIDAR point clouds handling partial occlusion

This paper presents a novel approach to segmentation of a dense 3D point cloud, generated by a flash lidar type camera. Incorporating symmetries of the sensor, the algorithm is using a 2D grid approach to cluster data points and extrude object segments in complex scenes. The data representation allo...

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Bibliographic Details
Main Authors: Aue, Jan, Langer, Dirk, Muller-Bessler, Bernhard, Huhnke, Burkhard
Format: Conference Proceeding
Language:English
Subjects:
Clustering algorithms
Image segmentation
Laser radar
Lasers
Pixel
Robot sensing systems
Three dimensional displays
Citations: Items that cite this one
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Summary:This paper presents a novel approach to segmentation of a dense 3D point cloud, generated by a flash lidar type camera. Incorporating symmetries of the sensor, the algorithm is using a 2D grid approach to cluster data points and extrude object segments in complex scenes. The data representation allows for the handling of partially occluded, but connected objects at different ranges. The algorithm was tested on a variety of different sensor data sets and the obtained results are presented and discussed.
ISSN:1931-0587
2642-7214
DOI:10.1109/IVS.2011.5940442