Point-based morphological opening with input data retrieval

Mathematical morphology is a technique recently applied directly for point cloud data. Its working principle is based on the removal and addition of points from an auxiliary point cloud that acts as a structuring element. However, in certain applications within a more complex process, these changes to the original data represent an...

Semantic segmentation of mobile laser scanning point clouds with long short-term memory networks: Preliminary results

Although point clouds are characterized as a type of unstructured data, timestamp attribute can structure point clouds into scanlines and shape them into a time signal. The present work studies the transformation of the street point cloud into a time signal based on the Z component for the semantic segmentation using Long Short-Term Memory ...

Segmentation of traffic signs from poles with mathematical morphology applied to point clouds

Traffic signs are one of the most relevant road assets for driving, as the safety of drivers depends to a great extent on their correct location. In this paper two methods are compared for the segmentation of the sign and the pole supporting it. Both methods are based on the morphological opening to identify the sign points, the first one...

Detection and reconstruction of static vehicle-related ground occlusions in point clouds from mobile laser scanning

Vehicle-related ground occlusion is a common problem in MLS data. This study aims to design a detection and reconstruction method of static vehicle-related ground occlusion for MLS data. Ground extraction and vehicle segmentation are performed on the input point cloud data in advance. Then an α-shape boundary based on the prior vehicle...

Data frame aware optimized Octomap-based dynamic object detection and removal in Mobile Laser Scanning data

The Mobile Laser Scanning (MLS) data inevitably includes dynamic objects because there are always other vehicles (e.g., other cars, motorbikes, bikes, etc.) moving in the area near the MLS data collection vehicle on the road. These dynamic objects need to be removed in advance for many point cloud applications. This paper designs an efficient...