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...

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...