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Laser & Optoelectronics Progress, Volume. 60, Issue 14, 1428009(2023)

Rapid Removal Algorithm of Road Surface Point Cloud Based on LP-RANSAC Algorithm

Yong Zuo*, Yang Ren**, Zhihua Du, Jifang Qiu, Yan Li, Hongxiang Guo, Xiaobin Hong, and Jian Wu
Author Affiliations
  • College of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (9)
    Equations (4)
    References (16)
    Cited By (1)
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    Figures & Tables(9)
    Core idea of ground segmentation based on RANSAC algorithm

    Fig. 1. Core idea of ground segmentation based on RANSAC algorithm

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    Adaptive extraction of bottom point cloud. (a) Calculation of maximum and minimum values; (b) bottom point cloud extraction

    Fig. 2. Adaptive extraction of bottom point cloud. (a) Calculation of maximum and minimum values; (b) bottom point cloud extraction

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    Constructing of 3D voxel meshes

    Fig. 3. Constructing of 3D voxel meshes

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    Some points in inclined ground failed to be collected

    Fig. 4. Some points in inclined ground failed to be collected

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    Original point cloud of single highway scene and ground segmentation results of different algorithms. (a) Original point cloud; (b) LP-RANSAC algorithm; (c) RANSAC algorithm; (d) morphological algorithm; (e) LMedS algorithm

    Fig. 5. Original point cloud of single highway scene and ground segmentation results of different algorithms. (a) Original point cloud; (b) LP-RANSAC algorithm; (c) RANSAC algorithm; (d) morphological algorithm; (e) LMedS algorithm

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    Original point cloud of multi highway scene and ground segmentation results of different algorithms. (a) Original point cloud; (b) LP-RANSAC algorithm; (c) RANSAC algorithm; (d) morphological algorithm; (e) LMedS algorithm

    Fig. 6. Original point cloud of multi highway scene and ground segmentation results of different algorithms. (a) Original point cloud; (b) LP-RANSAC algorithm; (c) RANSAC algorithm; (d) morphological algorithm; (e) LMedS algorithm

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    Original point cloud of KITTI and ground segmentation results of different algorithms. (a) Original point cloud; (b) LP-RANSAC algorithm; (c) RANSAC algorithm; (d) morphological algorithm; (e) LMedS algorithm

    Fig. 7. Original point cloud of KITTI and ground segmentation results of different algorithms. (a) Original point cloud; (b) LP-RANSAC algorithm; (c) RANSAC algorithm; (d) morphological algorithm; (e) LMedS algorithm

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    Ground segmentation results of LP-RANSAC algorithm (top) and CNN algorithm (bottom)

    Fig. 8. Ground segmentation results of LP-RANSAC algorithm (top) and CNN algorithm (bottom)

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    • Table 1. Quantitative evaluation results of different algorithms in different scenarios

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      Table 1. Quantitative evaluation results of different algorithms in different scenarios

      AlgorithmRTP /%RFP /%Consuming time /ms
      SingleMultiKITTISingleMultiKITTISingleMultiKITTI
      Morphological10095.461004.136.960.16147164016654
      RANSAC8.5948.5168.816.620.080126237315
      LP-RANSAC10098.1969.790.291.04085766
      LMedS8.6619.5938.986.580.0302274604724621
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    Yong Zuo, Yang Ren, Zhihua Du, Jifang Qiu, Yan Li, Hongxiang Guo, Xiaobin Hong, Jian Wu. Rapid Removal Algorithm of Road Surface Point Cloud Based on LP-RANSAC Algorithm[J]. Laser & Optoelectronics Progress, 2023, 60(14): 1428009

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    Paper Information

    Category: Remote Sensing and Sensors

    Received: Feb. 11, 2022

    Accepted: Sep. 5, 2022

    Published Online: Jul. 17, 2023

    The Author Email: Zuo Yong (yong_zuo@bupt.edu.cn), Ren Yang (ry1224@163.com)

    DOI:10.3788/LOP220707

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology