Range images are commonly used representations for 3D LiDAR point cloud in the field of autonomous driving. The approach generating a range image is generally regarded as standard approach. However, there do exist two different types approaches to image: In one approach, row defined laser ID, and other elevation angle. We named first Projection By Laser ID (PBID), second Elevation Angle (PBEA)....

Raw point cloud processing using capsule networks is widely adopted in classification, reconstruction, and segmentation due to its ability preserve spatial agreement of the input data. However, most existing based network approaches are computationally heavy fail at representing entire as a single capsule. We address these limitations by proposing PointCaps, novel convolutional architecture wit...

Three-dimensional fine point cloud has gradually become a key data source of three-dimensional model. The large scale point cloud interactive quick pick up is a kind of important operation in the point cloud data processing and applications. Since the point cloud model is composed of massive points, the speed of ordinary picking method is limited. A GPU-based point cloud picking algorithm was t...

A point cloud registration method based on 3D lines extraction from 3D data to register point cloud with obvious edges is proposed in this paper. Firstly, the line feature point cloud (LFPC), which is corresponding to the objects' edges, is extracted from the measured 3D data by using surface curvature as a measure. Then, through applying the 3D Hough transformation on LFPC, the line directions...

as the information carried in a high spatial resolution image is not represented by single pixels but by meaningful image objects, which include the association of multiple pixels and their mutual relations, the object based method has become one of the most commonly used strategies for the processing of high resolution imagery. this processing comprises two fundamental and critical steps towar...

A new algorithm for deriving skeletons and segmentations from point cloud data in O(n) time is explained in this publication. This skeleton is represented as a graph, which can be embedded into the point cloud. The CAMPINO method, (C)ollapsing (A)nd (M)erging (P)rocedures (IN) (O)ctree-graphs, is based on cycle elimination in a graph as derived from an octree based space division procedure. The...

In this paper, we propose an approach that enables automatic, fast and accurate tree trunks segmentation from three-dimensional (3-D) laser data. Results have been demonstrated in real-time on-board a ground mobile robot. In addition, we propose an approach to estimate tree diameter at breast height (dbh) that was tested off-line on a variety of ground laser scanner data. Results are also prese...