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 ...

Automatic detection and characerization of ground occlusions in urban point clouds from mobile laser scanning data

Occlusions accompany serious problems that reduce the applicability of numerous algorithms. The aim of this work is to detect and characterize urban ground gaps based on occluding object. The point clouds for input have been acquired with Mobile Laser Scanning and have been previously segmented into ground, buildings and objects, which have...

Mathematical morphology directly applied to point cloud data

Many of the point cloud processing techniques have their origin in image processing. But mathematical morphology, despite being one of the most used image processing techniques, has not yet been clearly adapted to point clouds. The aim of this work is to design the basic operations of mathematical morphology applicable to 3D point cloud data,...

Point cloud room segmentation based on indoor spaces and 3D mathematical morphology

Room segmentation is a matter of ongoing interesting for indoor navigation and reconstruction in robotics and AEC. While in robotics field, the problem room segmentation has been typically addressed on 2D floorplan, interest in enrichment 3D models providing more detailed representation of indoors has been growing in the AEC. Point clouds...

Automatic extraction of a navigation graph intended for IndoorGML from an indoor point cloud

Indoor environments tend to be more complex and more populated when buildings are accessible to the public. The need for knowing where people are, how they can get somewhere or how to reach them in these buildings is thus equally increasing. In this research point clouds are used, obtained by dynamic laser scanning of a building, since we cannot...

The ISPRS benchmark on indoor modelling

Automated generation of 3D indoor models from point cloud data has been a topic of intensive research in recent years. While results on various datasets have been reported in literature, a comparison of the performance of different methods has not been possible due to the lack of benchmark datasets and a common evaluation framework. The ISPRS...

Extracting topological relations between indoor spaces from point clouds

3D models of indoor environments are essential for many application domains such as navigation guidance, emergency management and a range of indoor location-based services. The principal components defined in different BIM standards contain not only building elements, such as floors, walls and doors, but also navigable spaces and their...