Sparse 3D point clouds segmentation considering 2D image feature extraction with deep learning

Yusheng Li; Yong Tian; Jiandong Tian

doi:10.1117/12.2539780

14 August 2019 Sparse 3D point clouds segmentation considering 2D image feature extraction with deep learning

Yusheng Li, Yong Tian, Jiandong Tian

Proceedings Volume 11179, Eleventh International Conference on Digital Image Processing (ICDIP 2019); 111790B (2019) https://doi.org/10.1117/12.2539780
Event: Eleventh International Conference on Digital Image Processing (ICDIP 2019), 2019, Guangzhou, China

Abstract

Three-dimensional (3D) point cloud segmentation plays an important role in autonomous navigation systems, such as mobile robots and autonomous cars. However, the segmentation is challenging because of data sparsity, uneven sampling density, irregular format, and lack of color texture. In this paper, we propose a sparse 3D point cloud segmentation method based on 2D image feature extraction with deep learning. Firstly, we jointly calibrate the camera and lidar to get the external parameters (rotation matrix and translation vector). Then, we introduce the Convolutional Neural Network (CNN)-based object detectors to generate 2D object region proposals in the RGB image and classify object. Finally, based on the external parameters of joint calibration, we extract point clouds that can be projected to 2D object region from 16-lines RS-LIDAR-16 scanner, and further fine segmentation in the extracted point cloud according to prior knowledge of the classification features. Experiments demonstrate the effectiveness of the proposed sparse point cloud segmentation method.

Citation Download Citation

Yusheng Li, Yong Tian, and Jiandong Tian "Sparse 3D point clouds segmentation considering 2D image feature extraction with deep learning", Proc. SPIE 11179, Eleventh International Conference on Digital Image Processing (ICDIP 2019), 111790B (14 August 2019); https://doi.org/10.1117/12.2539780

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