New approach of imagery generation and target recognition based on 3D LIDAR data

Abstract

Light Detection and Ranging (LIDAR) sensor is an advanced technology of 3D-measurement with high accuracy. The processing of 3D point cloud data collected via LIDAR sensor is of topical interest for 3D target recognition. In this paper, a new approach of imagery generation and target recognition based on 3D LIDAR data is presented. The raw 3D point cloud data are transformed and interpolated to be stored in 2D matrix. The target imagery is generated and visualized by means of height-gray mapping principle proposed in paper. For different poses of target, the affine invariable moments of target imagery are selected as features for recognition because of its invariance in rotation, scaling, translation and affine transformation. BP neural network algorithm and Support Vector Machine (SVM) algorithm are utilized as method of target classification and recognition. The recognition results by two algorithms are compared against and analyzed detailedly. The new method had been applied into target recognition in outdoor experiments. Different types of targets are classified and the rate of correct recognition is greater than 95%. Through outdoor experiments, it can be proven that this new method is applied to the field of 3D target recognition effectively and stability.