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Laser & Optoelectronics Progress, Volume. 56, Issue 22, 221102(2019)

Segmentation Algorithm Based on Point Cloud Skeleton

Renzhong Li*, Zhewen Liu, and Yangyang Liu
Author Affiliations
  • School of Electronics and Information, Xi'an Polytechnic University, Xi'an, Shaanxi, 710048, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
    Equations (0)
    References (18)
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    Figures & Tables(11)
    Flow chart of algorithm

    Fig. 1. Flow chart of algorithm

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    Example of octree

    Fig. 2. Example of octree

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    Tree (with leaf) model. (a) Raw data; (b) skeleton point; (c) result

    Fig. 3. Tree (with leaf) model. (a) Raw data; (b) skeleton point; (c) result

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    Tree (without leaf) model. (a) Raw data; (b) skeleton point; (c) result

    Fig. 4. Tree (without leaf) model. (a) Raw data; (b) skeleton point; (c) result

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    Alphabet model. (a) Raw data; (b) skeleton point; (c) result

    Fig. 5. Alphabet model. (a) Raw data; (b) skeleton point; (c) result

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    People model. (a) Raw data; (b) skeleton point; (c) result

    Fig. 6. People model. (a) Raw data; (b) skeleton point; (c) result

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    Coral model. (a) Raw data; (b) skeleton point; (c) result

    Fig. 7. Coral model. (a) Raw data; (b) skeleton point; (c) result

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    Animal model. (a) Raw data; (b) skeleton point; (c) result

    Fig. 8. Animal model. (a) Raw data; (b) skeleton point; (c) result

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    Comparative experiment of skeleton point extraction. (a)(d) Raw data; (b)(e) our method; (c)(f) Laplacian method

    Fig. 9. Comparative experiment of skeleton point extraction. (a)(d) Raw data; (b)(e) our method; (c)(f) Laplacian method

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    • Table 1. Fisher-Yates algorithm

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      Table 1. Fisher-Yates algorithm

      RangeRollScratchResult
      [1,8]61 2 3 4 5 8 76
      [1,7]21 7 3 4 5 82 6
      [1,6]61 7 3 4 58 2 6
      [1,5]15 7 3 41 8 2 6
      [1,4]35 7 43 1 8 2 6
      [1,3]35 74 3 1 8 2 6
      [1,2]175 4 3 1 8 2 6

    • Table 2. Running time of algorithm

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      Table 2. Running time of algorithm

      ModelTree(with leaf)Tree(without leaf)AlphabetPeopleCoralAnimal
      Skeleton time /s9.1473.9641.4538.7333.0543.209
      Segmentation time /ms6.0778.5682.3182.6472.8962.985
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    Renzhong Li, Zhewen Liu, Yangyang Liu. Segmentation Algorithm Based on Point Cloud Skeleton[J]. Laser & Optoelectronics Progress, 2019, 56(22): 221102

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    Paper Information

    Category: Imaging Systems

    Received: Apr. 22, 2019

    Accepted: May. 17, 2019

    Published Online: Nov. 2, 2019

    The Author Email: Renzhong Li (lirenzhong@xpu.edu.cn)

    DOI:10.3788/LOP56.221102

    Topics

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