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Chinese Journal of Lasers, Volume. 46, Issue 7, 0710002(2019)

Target Segmentation Method for Three-Dimensional LiDAR Point Cloud Based on Depth Image

Xiaohui Fan1,2, Guoliang Xu2、*, Wanlin Li2, Qianzhu Wang2, and Liangliang Chang1,2
Author Affiliations
  • 1 College of Communication and Information Engineering, Chongqing University of Posts and Telecommunications,Chongqing 400065, China
  • 2 Institute of Electronic Information and Network Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
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    Projection form point clouds to depth map. (a) Point clouds; (b) depth map; (c) scene image

    Fig. 1. Projection form point clouds to depth map. (a) Point clouds; (b) depth map; (c) scene image

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    Scanning angle diagram of LiDAR

    Fig. 2. Scanning angle diagram of LiDAR

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    Pseudo-code graph of removing ground points

    Fig. 3. Pseudo-code graph of removing ground points

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    Angle distance and laser scanning target diagrams. (a) angle distance; (b) laser scanning two adjacent targets

    Fig. 4. Angle distance and laser scanning target diagrams. (a) angle distance; (b) laser scanning two adjacent targets

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    Pseudo-code graph of depth image-based DBSCAN

    Fig. 5. Pseudo-code graph of depth image-based DBSCAN

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    Ground point cloud extraction result. (a) Original point cloud data; (b) ground point cloud extraction

    Fig. 6. Ground point cloud extraction result. (a) Original point cloud data; (b) ground point cloud extraction

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    Time consumption comparison of segmentation algorithms

    Fig. 7. Time consumption comparison of segmentation algorithms

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    Point cloud target segmentation results. (a) FS algorithm; (b) proposed algorithm

    Fig. 8. Point cloud target segmentation results. (a) FS algorithm; (b) proposed algorithm

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    Xiaohui Fan, Guoliang Xu, Wanlin Li, Qianzhu Wang, Liangliang Chang. Target Segmentation Method for Three-Dimensional LiDAR Point Cloud Based on Depth Image[J]. Chinese Journal of Lasers, 2019, 46(7): 0710002

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    Paper Information

    Category: remote sensing and sensor

    Received: Jan. 11, 2019

    Accepted: Mar. 11, 2019

    Published Online: Jul. 11, 2019

    The Author Email: Xu Guoliang (xugl@cqupt.edu.cn)

    DOI:10.3788/CJL201946.0710002

    Topics

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