Low-complexity point cloud denoising for LiDAR by PCA-based dimension reduction

Abstract

Signals emitted by LiDAR sensors would often be negatively influenced during transmission by rain, fog, dust, atmospheric particles, scattering of light and other influencing factors, causing noises in point cloud images. To address this problem, this paper develops a new noise reduction method to filter LiDAR point clouds, i.e. an adaptive clustering method based on principal component analysis (PCA). Different from the traditional filtering methods that directly process three-dimension (3D) point cloud data, the proposed method uses dimension reduction to generate two-dimension (2D) data by extracting the first principal component and the second principal component of the original data with little information attrition. In the 2D space spanned by two principal components, the generated 2D data are clustered for noise reduction before being restored into 3D. Through dimension reduction and the clustering of the generated 2D data, this method derives low computational complexity, effectively removing noises while retaining details of environmental features. Compared with traditional filtering algorithms, the proposed method has higher precision and recall. Experimental results show a F-score as high as 0.92 with complexity reduced by 50% compared with traditional density-based clustering method.