Point Cloud Research Articles

A point cloud segmentation algorithm based on multi-feature training and weighted random forest

Abstract Point cloud segmentation is the process of dividing point cloud data into a series of coherent subsets according to its attributes. It has been widely used in target recognition, digital protection of cultural relics, medical research and other fields. To improve the classification accuracy of point cloud and achieve accurate segmentation of objects or scenes, a point cloud segmentation algorithm based on multi–features training and weighted random forest (RF) is proposed. Firstly, the feature vector composed of 3D coordinate value, RGB value, echo intensity, point cloud density, normal direction and average curvature is used to train the SVM classifier, and the ‘one–to–one’ strategy is adopted to achieve the initial multivariate rough segmentation of point cloud. Then, the maximum information coefficient and sample correlation coefficient (SCC) are used to evaluate the correlation of the decision tree, and the decision tree is weighted accordingly to build a weak correlation weighted RF, so as to achieve further accurate segmentation of the point cloud. The experiment verifies the effectiveness of the proposed algorithm by segmenting the outdoor scene point cloud data model. The results show that the segmentation algorithm based on multi–features training and weighted RF can achieve accurate point cloud segmentation, and is an effective point cloud segmentation method.

Point cloud upsampling network based on pyramid pooling and self-attention mechanism

For the problems of irregular point cloud data and non-unique input size, a point-cloud upsampling network (PPSA-PU) based on Pyramid Pooling and Self-Attention mechanism is proposed. Multi-scale features are first extracted from the input point cloud using dense map convolution with different expansion rates, and the pyramid pooling module and self-attention mechanism are added. By applying the same pooling operation to regions of different sizes and numbers, the network is made to accept inputs of arbitrary size. Self-attention is used to weight the features to establish global correlation and improve the feature extraction capability. The features are then extended by the Self-Attention NodeShuffle (SA-NS) module, which uses a graph convolution layer to fuse neighbour information and learn new point features from the latent space. Finally, the coordinate reconstruction module is used to generate a dense up-sampled point cloud. Using the existing dataset to train and test the network and compare it with the existing up-sampling network, the experimental results show that PPSA-PU is better in terms of evaluation metrics and performance, and has better generalisation and robustness.

Weakly supervised 3D point cloud semantic segmentation for architectural heritage using teacher-guided consistency and contrast learning

Point cloud semantic segmentation is significant for managing and protecting architectural heritage. Currently, fully supervised methods require a large amount of annotated data, while weakly supervised methods are difficult to transfer directly to architectural heritage. This paper proposes an end-to-end teacher-guided consistency and contrastive learning weakly supervised (TCCWS) framework for architectural heritage point cloud semantic segmentation, which can fully utilize limited labeled points to train network. Specifically, a teacher-student framework is designed to generate pseudo labels and a pseudo label dividing module is proposed to distinguish reliable and ambiguous point sets. Based on it, a consistency and contrastive learning strategy is designed to fully utilize supervision signals to learn the features of point clouds. The framework is tested on the ArCH dataset and self-collected point cloud, which demonstrates that the proposed method can achieve effective semantic segmentation of architectural heritage using only 0.1 % of annotated points.

Kernel Density Estimation for the Interpretation of Seismic Big Data in Tectonics Using QGIS: The Türkiye–Syria Earthquakes (2023)

Numerous studies have utilized remote sensing techniques to analyze seismic data in active areas. Point density techniques, widely used in remote sensing, examine the spatial distribution of point clouds related to specific variables. Applying these techniques to complex tectonic settings, such as the East Anatolian Fault Zone, helps identify major active fractures using both surface and deep information. This study employed kernel density estimation (KDE) to compare two distinct point-cloud populations from the seismic event along the Türkiye–Syria border on 6 February 2023, providing insights into the main active orientations supporting the Global Tectonics framework. This study considered two populations of seismic foci point clouds containing over 40,000 events, recorded by the Turkish Disaster and Emergency Management Authority (AFAD) and Kandilli Observatory and Earthquake Research Institute (KOERI). These populations were divided into two datasets: crude and relocated-filtered. Kernel density analysis demonstrated that both datasets yielded similar geological interpretations. The high-density cores of both datasets perfectly matched, exhibiting identical structures consistent with geological knowledge. Areas with a minimal concentration of earthquakes at depth were also identified, separating different crustal strength levels.

Influence of Structure from Motion Algorithm Parameters on Metrics for Individual Tree Detection Accuracy and Precision

Uncrewed aerial system (UAS) structure from motion (SfM) monitoring strategies for individual trees has rapidly expanded in the early 21st century. It has become common for studies to report accuracies for individual tree heights and DBH, along with stand density metrics. This study evaluates individual tree detection and stand basal area accuracy and precision in five ponderosa pine sites against the range of SfM parameters in the Agisoft Metashape, Pix4DMapper, and OpenDroneMap algorithms. The study is designed to frame UAS-SfM individual tree monitoring accuracy in the context of data processing and storage demands as a function of SfM algorithm parameter levels. Results show that when SfM algorithms are properly tuned, differences between software types are negligible, with Metashape providing a median F-score improvement over OpenDroneMap of 0.02 and PIX4DMapper of 0.06. However, tree extraction performance varied greatly across algorithm parameters, with the greatest extraction rates typically coming from parameters causing increased density in dense point clouds and minimal point cloud filtering. Transferring UAS-SfM forest monitoring into management will require tradeoffs between accuracy and efficiency. Our analysis shows that a one-step reduction in dense point cloud quality saves 77–86% in point cloud processing time without decreasing tree extraction (F-score) or basal area precision using Metashape and PIX4DMapper but the same parameter change for OpenDroneMap caused a ~5% loss in precision. Providing reproducible processing strategies is a vital step in successfully transferring these technologies into usage as management tools.

CDP-MVS: Forest Multi-View Reconstruction with Enhanced Confidence-Guided Dynamic Domain Propagation

Using multi-view images of forest plots to reconstruct dense point clouds and extract individual tree parameters enables rapid, high-precision, and cost-effective forest plot surveys. However, images captured at close range face challenges in forest reconstruction, such as unclear canopy reconstruction, prolonged reconstruction times, insufficient accuracy, and issues with tree duplication. To address these challenges, this paper introduces a new image dataset creation process that enhances both the efficiency and quality of image acquisition. Additionally, a block-matching-based multi-view reconstruction algorithm, Forest Multi-View Reconstruction with Enhanced Confidence-Guided Dynamic Domain Propagation (CDP-MVS), is proposed. The CDP-MVS algorithm addresses the issue of canopy and sky mixing in reconstructed point clouds by segmenting the sky in the depth maps and setting its depth value to zero. Furthermore, the algorithm introduces a confidence calculation method that comprehensively evaluates multiple aspects. Moreover, CDP-MVS employs a decentralized dynamic domain propagation sampling strategy, guiding the propagation of the dynamic domain through newly defined confidence measures. Finally, this paper compares the reconstruction results and individual tree parameters of the CDP-MVS, ACMMP, and PatchMatchNet algorithms using self-collected data. Visualization results show that, compared to the other two algorithms, CDP-MVS produces the least sky noise in tree reconstructions, with the clearest and most detailed canopy branches and trunk sections. In terms of parameter metrics, CDP-MVS achieved 100% accuracy in reconstructing tree quantities across the four plots, effectively avoiding tree duplication. The accuracy of breast diameter extraction values of point clouds reconstructed by CDPMVS reached 96.27%, 90%, 90.64%, and 93.62%, respectively, in the four sample plots. The positional deviation of reconstructed trees, compared to ACMMP, was reduced by 0.37 m, 0.07 m, 0.18 m and 0.33 m, with the average distance deviation across the four plots converging within 0.25 m. In terms of reconstruction efficiency, CDP-MVS completed the reconstruction of the four plots in 1.8 to 3.1 h, reducing the average reconstruction time per plot by six minutes compared to ACMMP and by two to three times compared to PatchMatchNet. Finally, the differences in tree height accuracy among the point clouds reconstructed by the different algorithms were minimal. The experimental results demonstrate that CDP-MVS, as a multi-view reconstruction algorithm tailored for forest reconstruction, shows promising application potential and can provide valuable support for forestry surveys.

Updating assembly parameters for spacecraft assembly process state changes: based on data fusion method

Thermal protection systems (TPSs) are important components of reusable spacecraft, and their assembly quality has a crucial impact on flight safety. Owing to the complex assembly process and variable states of spacecraft thermal protection systems, assembly parameters may vary under different assembly states. Therefore, to obtain assembly parameters accurately and efficiently under different assembly states, in this study, 3D point cloud data and fiber optic sensor data were fused to develop an assembly parameter update method for assembly process state changes. Firstly, based on the measured data of thermal protection components and load-bearing structure, the gap, flush and matching parameters solution model are proposed. Secondly, to address the deformation problem of the load-bearing structure caused by changes in assembly status, a fusion method based on laser scanning and sensor detection was devised to achieve deformation prediction of the assembly structure during the assembly process. Thirdly, based on the assembly parameter solution model and point cloud prediction model, a constraint-based assembly parameter optimisation model was established, and an improved quantum particle swarm optimisation (LQPSO) algorithm was employed to achieve assembly parameter updates oriented toward changes in assembly status. Finally, an experimental system for array-based thermal protection structure simulation was established to validate the proposed method. The results show that the proposed parameter update method can achieve ideal results for different assembly state simulation components.

Efficient object recognition under cluttered scenes via descriptor-based matching and single point voting

This paper addresses the problem of recognizing multiple objects and multiple instances from point clouds. Whereas existing methods utilize descriptors on 3D fields or pointwise voting to achieve this task, our framework takes advantage of both descriptor-based and voting-based schemes to realize more robust and efficient prediction. Specifically, we propose a novel and robust descriptor called an orientation-enhanced fast point feature histogram (OE-FPFH) to describe points in both the object model and scene, and further to build the correspondence set. The OE-FPFH integrates an orientation vector through mining the geometric tensor of the local structure of a surface point, which is more representative than the original FPFH descriptor. To improve voting efficiency, we devise a novel single-point voting mechanism (SPVM), which constructs a unique local reference frame (LRF) on a single point using the orientation vector. The SPVM takes as input the corresponding point set and can generate a pose candidate for each correspondence. The process is realized by matching LRFs from two corresponding points. All pose candidates are subsequently divided into clusters and aggregated using the K-means clustering algorithm to deduce the poses for different objects or instances in the scene. Experiments on three challenging datasets demonstrate that our method is effective, efficient, and robust to occlusions and multiple instances.

A Coal Mine Excavation Tunnels Modeling Method Based on Point Clouds

A Coal Mine Excavation Tunnels Modeling Method Based on Point Clouds

3D reconstruction and depth estimation method for local anomalies of rail surface based on multi-view stereo matching

Abstract Detecting rail surface anomalies has become crucial for ensuring the safety of train operations. However, manual detection methods are time-consuming and labor-intensive. Although traditional detection models based on one-dimensional signals or two-dimensional images can effectively identify the existence of defects, they are difficult to use to obtain local depth characteristic information, leading to difficulties in accurately assessing the extent of damage in abnormal regions. Rail track maintenance strategies are typically developed based on the detected different depth ranges of defects. To address this issue, this paper proposes a local depth estimation method based on the point cloud of the target rail surface reconstructed by PatchmatchNet. Firstly, according to the acquisition method of multi-view images and the sampling environment at the site, a practical data collection protocol is established for generating a multi-view dataset of rail surface. Next, dense point cloud of the target rail surface were reconstructed by PatchmatchNet. Subsequently, a method for estimating the local anomaly depth is developed based on the point cloud. Experimental results demonstrate that the proposed method achieves a minimum error of approximately 5.5% within a maximum depth range of 0.35mm, when compared to depth measurements obtained using a structured light camera. Finally, this paper presents a more comprehensive three-dimensional representation of the local abnormal physical structure, surpassing traditional one-dimensional and two-dimensional forms. This enhanced representation offers richer information for the effective determination of whether the anomalies constitute defects and aids in distinguishing true defects from other surface irregularities. Such advancement significantly improves the precision of defect assessment and supports the development of highly precise repair strategies.

Precision detection and identification method for apparent damage in timber components of historic buildings based on portable LiDAR equipment

For the purpose of preservation and restoration of historic timber buildings, it is critical that damage to timber components must be detected and identified accurately since proper detection and identification lay the foundation for scientific utilization and preservation of cultural heritage. Portable smart devices with integrated LiDAR sensor technology have significantly advanced, enabling them to be major pedestals for damage detection. An iPhone Pro based technique is therefore suggested for the precise detection and diagnosis of apparent damage to the timber components. The study consists of three major procedures. First, an apparent data collection of the timber components was conducted. A high-resolution triangular mesh model was utilized for precision detection and identification. Point cloud and texture data were the main constituents of this data collection. Second, a technique for image processing and apparent damage analysis was proposed for crack detection in historic timber buildings. This approach can be used to identify, recognize,and assess damage to timber components such as cracks, rotting, and knots. Finally, actual measurements of the timber components in Datong, Shanxi Province, at the Great Temple Corner, proved the effectiveness of the iPhone 12 Pro as a substitute approach to the conventional inspection equipment. The findings indicate that the iPhone 12 Pro, which has a built-in LiDAR sensor, performs exceptionally well in terms of effectiveness, accuracy, and graphical interpretation when identifying apparent damage to historic timber components. Moreover, it has the potential to substitute traditional measurement, 3D scanning, and other detection and identification techniques. Even though damage detection and identification of historical timber buildings has reached a mature stage in terms of portable, refined, and digital transformation, such technique can serve as a compatible addition as a safe, affordable, and paradigm shifting technical solution for detection and identification of historic building components.

Optimising Floor Plan Extraction: Applying DBSCAN and K-Means in Point Cloud Analysis of Valencia Cathedral

Optimising Floor Plan Extraction: Applying DBSCAN and K-Means in Point Cloud Analysis of Valencia Cathedral

Geometry-Aware Enhanced Mutual-Supervised Point Elimination with Overlapping Mask Contrastive Learning for Partitial Point Cloud Registration

Point cloud registration is one of the fundamental tasks in computer vision, but faces challenges under low overlap conditions. Recent approaches use transformers and overlapping masks to improve perception, but mask learning only considers Euclidean distances between features, ignores mismatches caused by fuzzy geometric structures, and is often computationally inefficient. To address these issues, we introduce a novel matching framework. Firstly, we fuse adaptive graph convolution with PPF features to obtain rich feature perception. Subsequently, we construct a PGT framework that uses GeoTransformer and combines it with location information encoding to enhance the geometry perception between source and target clouds. In addition, we improve the visibility of overlapping regions through information exchange and the AIS module, aiming at subsequent keypoint extraction, preserving points with distinct geometrical structures while suppressing the influence of non-overlapping regions to improve computational efficiency. Finally, the mask is refined through contrast learning to preserve geometric and distance similarity, which helps to compute the transformation parameters more accurately. We have conducted comprehensive experiments on synthetic and real-world scene datasets, demonstrating superior registration performance compared to recent deep learning methods. Our approach shows remarkable improvements of 68.21% in RRMSE and 76.31% in tRMSE on synthetic data, while also excelling in real-world scenarios with enhancements of 76.46% in RRMSE and 45.16% in tRMSE.

Three-Dimensional Outdoor Object Detection in Quadrupedal Robots for Surveillance Navigations

Quadrupedal robots are confronted with the intricate challenge of navigating dynamic environments fraught with diverse and unpredictable scenarios. Effectively identifying and responding to obstacles is paramount for ensuring safe and reliable navigation. This paper introduces a pioneering method for 3D object detection, termed viewpoint feature histograms, which leverages the established paradigm of 2D detection in projection. By translating 2D bounding boxes into 3D object proposals, this approach not only enables the reuse of existing 2D detectors but also significantly increases the performance with less computation required, allowing for real-time detection. Our method is versatile, targeting both bird’s eye view objects (e.g., cars) and frontal view objects (e.g., pedestrians), accommodating various types of 2D object detectors. We showcase the efficacy of our approach through the integration of YOLO3D, utilizing LiDAR point clouds on the KITTI dataset, to achieve real-time efficiency aligned with the demands of autonomous vehicle navigation. Our model selection process, tailored to the specific needs of quadrupedal robots, emphasizes considerations such as model complexity, inference speed, and customization flexibility, achieving an accuracy of up to 99.93%. This research represents a significant advancement in enabling quadrupedal robots to navigate complex and dynamic environments with heightened precision and safety.

An Improved Adaptive Grid-Based Progressive Triangulated Irregular Network Densification Algorithm for Filtering Airborne LiDAR Data

Ground filtering is crucial for airborne Light Detection and Ranging (LiDAR) data post-processing. The progressive triangulated irregular network densification (PTD) algorithm and its variants outperform others in accuracy, stability, and robustness, using grid-based seed point selection, TIN construction, and iterative rules for ground point identification. However, these methods still face limitations in removing low points and accurately preserving terrain details, primarily due to their sensitivity to grid size. To overcome this issue, a novel PTD filtering algorithm based on an adaptive grid (AGPTD) was proposed. The main contributions of the proposed method include an outlier removal method using a radius outlier removal algorithm and Kd-tree, a method for establishing an adaptive two-level grid based on point cloud density and terrain slope, and an adaptive selection method for angle and distance thresholds in the iterative densification processing. The performance of the AGPTD algorithm was assessed based on widely used benchmark datasets. Results show that the AGPTD algorithm outperforms the classical PTD algorithm in retaining ground feature points, especially in reducing Type I error and average total error significantly. In comparison with other advanced algorithms developed in recent years, the novel algorithm showed the lowest average Type I error, the minimal average total error, and the greatest average Kappa coefficient, which were 1.11%, 2.28%, and 90.86%, respectively. Additionally, the average accuracy, precision, and recall of AGPTD were 97.69%, 97.52%, and 98.98%, respectively.

Stretchable plasmonic metasurfaces for deformation monitoring

Abstract Metasurfaces have recently gained significant attention due to the strong capacity in light field manipulation. However, most traditional metasurfaces are fabricated on rigid substrates, which fix their functionality after fabrication and limit their applications in dynamic measurement fields. In this work, we designed and fabricated a silver metasurface embedded in a stretchable substrate for sensing applications. This metasurface can generate different point cloud patterns under varying stretch ratios when illuminated by a laser beam. By collecting and analyzing the patterns, we can precisely reconstruct the deformation of the metasurface. Furthermore, the sample exhibits excellent performance under incident light of various wavelengths. These results pave the way for developing microdevices with novel capabilities based on flexible metamaterials.

AMVFNet: Attentive Multi-View Fusion Network for 3D Object Detection

Pillar-based method is significant in the field of LiDAR-based 3D object detection which could directly make use of efficient 2D backbone and save computational resources during reference. Existing methods usually sequentially project the original point clouds into the cylindrical view or the bird-eye view for feature extraction. However, the former suffers from obscured problems and the scales of instances vary greatly with distance, while the latter leads to considerable confusion problems due to the loss of semantic information caused by the sparsity of the projected point cloud. In this paper, we present a novel and efficient two-stage point-pillar hybrid architecture named Attentive Multi-View Fusion Network (AMVFNet), in which we abstract features from all cylindrical view, bird-eye view, and raw point clouds. Rather than designing more complex modules to solve the problems inherent in the single-view approach, our multi-view fusion architecture effectively combines the strengths of multiple perspectives to improve performance at a more fundamental level. Besides, to compensate for quantization distortion caused by projection operations, we propose attentive feature enhancement layers to further improve the capability of contextual information capturing. Extensive experiments on the KITTI detection benchmark illustrate that our proposed AMVFNet achieves competitive performance compared with other SOTA 3D object detectors.

Thionation of Poly(2-ethyl-2-oxazoline) and Its Effect on Solubility and Cloud Point

Thionation of Poly(2-ethyl-2-oxazoline) and Its Effect on Solubility and Cloud Point

Nanoporous Carbon-Supported Bimetallic (Ni, Cu, and Fe)-Mo Catalysts for Partial Hydrogenation of Biodiesel.

Upgrading biodiesel or hydrogenated fatty acid methyl esters (H-FAMEs) by partial hydrogenation is a second-generation biofuel with high specific fuel characteristics, such as superior cold flow properties, higher oxidative stability, and lower hazardous gas emissions, allowing this biofuel to provide excellent fuel properties, over conventional biodiesel. This study assessed the potential of using nanoporous carbon produced from cattail leaves (CL) as an alternative catalyst support. We synthesized various catalysts including monometallic Mo/NPC, Ni/NPC, Ce/NPC, and Fe/NPC catalysts, as well as bimetallic molybdenum-based catalysts doped with nickel, copper, or iron for the partial hydrogenation of soybean biodiesel. The NPC support demonstrated a surface area (S BET) of approximately 1,323 m2g-1, which greatly increases the catalytic activity through the efficient dispersion of catalyst active sites. The partial hydrogenation reaction of soybean FAME over the MoNi/NPC catalyst obtained the highest catalytic activity with enhanced oxidation stability from 3 to 14 h, and the cloud point and pour point increased from 2 to 13 °C and -1 to 10 °C, respectively. Hence, the selection of catalysts is crucial due to their impact on the feasibility of the process and its economic viability. This article focuses on highlighting the effectiveness of a highly promising catalyst for partial hydrogenation as well as examining the variables that influence the primary reaction pathway.

Traffic Sign Classification Method Using Corrected Intensity and Up-Sampled Point Cloud

Traffic Sign Classification Method Using Corrected Intensity and Up-Sampled Point Cloud