Paper Info
Title
Spherically Stratified Point Projection: Feature Image Generation for Object Classification Using 3D LiDAR Data
Abstract
Three-dimensional point clouds have been utilized and studied for the classification of objects at the environmental level. While most existing studies, such as those in the field of computer vision, have detected object type from the perspective of sensors, this study developed a specialized strategy for object classification using LiDAR data points on the surface of the object. We propose a method for generating a spherically stratified point projection (sP(2)) feature image that can be applied to existing image-classification networks by performing pointwise classification based on a 3D point cloud using only LiDAR sensors data. The sP(2)'s main engine performs image generation through spherical stratification, evidence collection, and channel integration. Spherical stratification categorizes neighboring points into three layers according to distance ranges. Evidence collection calculates the occupancy probability based on Bayes' rule to project 3D points onto a two-dimensional surface corresponding to each stratified layer. Channel integration generates sP(2) RGB images with three evidence values representing short, medium, and long distances. Finally, the sP(2) images are used as a trainable source for classifying the points into predefined semantic labels. Experimental results indicated the effectiveness of the proposed sP(2) in classifying feature images generated using the LeNet architecture.
Year
DOI
Venue
2021
10.3390/s21237860
SENSORS
Keywords
DocType
Volume
spherically stratified point project, feature image, semantic labeling, point cloud
Journal
21
Issue
ISSN
Citations 
23
1424-8220
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Chulhee Bae100.34
Yu-Cheol Lee200.34
Wonpil Yu300.34
Sejin Lee400.34