Point Cloud Method Research Articles

Image-Driven Hybrid Structural Analysis Based on Continuum Point Cloud Method with Boundary Capturing Technique

Conventional approaches for the structural health monitoring of infrastructures often rely on physical sensors or targets attached to structural members, which require considerable preparation, maintenance, and operational effort, including continuous on-site adjustments. This paper presents an image-driven hybrid structural analysis technique that combines digital image processing (DIP) and regression analysis with a continuum point cloud method (CPCM) built on a particle-based strong formulation. Polynomial regressions capture the boundary shape change due to the structural loading and precisely identify the edge and corner coordinates of the deformed structure. The captured edge profiles are transformed into essential boundary conditions. This allows the construction of a strongly formulated boundary value problem (BVP), classified as the Dirichlet problem. Capturing boundary conditions from the digital image is novel, although a similar approach was applied to the point cloud data. It was shown that the CPCM is more efficient in this hybrid simulation framework than the weak-form-based numerical schemes. Unlike the finite element method (FEM), it can avoid aligning boundary nodes with regression points. A three-point bending test of a rubber beam was simulated to validate the developed technique. The simulation results were benchmarked against numerical results by ANSYS and various relevant numerical schemes. The technique can effectively solve the Dirichlet-type BVP, yielding accurate deformation, stress, and strain values across the entire problem domain when employing a linear strain model and increasing the number of CPCM nodes. In addition, comparative analysis with conventional displacement tracking techniques verifies the developed technique’s robustness. The proposed technique effectively circumvents the inherent limitations of traditional monitoring methods resulting from the reliance on physical gauges or target markers so that a robust and non-contact solution for remote structural health monitoring in real-scale infrastructures can be provided, even in unfavorable experimental environments.

Automatic registration of large-scale building point clouds with high outlier rates

Point cloud registration plays a crucial role in processing large-scale building point cloud data. However, existing registration algorithms face challenges in effectively handling outliers in descriptor-based correspondence. This paper presents an automatic registration method for large-scale building point clouds that is capable of achieving swift and accurate registration without the need for initial guessing. The method employs a two-step matching optimization approach: coarse (two-point)-to-fine (three-point), selecting matches based on two-point reliability and three-point consistency. Spatial transformation parameters are broken down into rotations and translations. A progressively optimized kernel function is proposed for estimating rotation, while a clustering confidence algorithm computes translation. Comprehensive experiments were conducted using real-world data. The results indicate that the approach swiftly and accurately estimates optimal outcomes when processing large-scale building point clouds with outlier rates up to 99%. Compared to six existing registration methods, the proposed approach reduces rotation error by 6.15% and translation error by 12.83%, while improving efficiency by 2.57%.

Assessment of the Symmetry and Deformation of a Submarine Hull Using the PCSE Method

Abstract The paper presents a new dry-dock method for assessing the deformation of submarine hulls using TLS point cloud data and the point cloud spatial expansion method (PCSE). The advantage of the proposed approach is the high-resolution deformation analysis that can be conducted in the case of both the availability and a lack of technical documentation on the submarine hull. The geometry assessment involves two-plane hull symmetry in longitudinal sections of a tested Kobben-class submarine located in Gdynia, Poland. The features of PCSE introduce additional geometrical parameters that are not available in the original point cloud method. The procedure for local fitting of a plane into the expansion eliminates the problem of varying densities of the hull point cloud. Accuracies of several millimetres are achieved and are applicable to multi-temporal monitoring of the deformations of submarine hulls. The assessment of similar deformations is not possible in the original point cloud method, due to the unknown parameters of the orientation and curvature of the convex cylindrical hull surface. The PCSE-based parameterisation presented here enables the creation of alternative quasi-planar point cloud projections to extract new spatial information on the object. The results of this study were verified using theoretical values derived from design data on the Kobben-class submarine, and demonstrated the effectiveness of our method in terms of detecting deformations even without design references. The proposed methodology is uniform, and can be adapted to other symmetrical structures.

A feature-preserving simplification method for dense point clouds based on voxel priority filtering

A feature-preserving simplification method for dense point clouds based on voxel priority filtering

A fast registration method for multi-view point clouds with low overlap in robotic measurement

With the rapid advancement of mechanical automation and intelligent processing technology, accurately measuring the surfaces of complex parts has emerged as a significant research challenge. Robotic measurement technology plays a crucial role in facilitating rapid quality inspections during the manufacturing process due to its inherent flexibility. However, the irregular shapes and viewpoint occlusions of complex parts complicate precise measurement. To address these challenges, this work proposes a point cloud registration network for robotic scanning systems and introduces a DBR-Net (Dual-line Registration Network) to overcome the issues of low overlap rates and perspective occlusion that currently impede the registration of certain workpieces. First, feature extraction is performed using a bilinear encoder and multi-level feature interactions of both point-wise and global features. Subsequently, the features are sampled through unanimous voting and fed into the RANSAC (Random Sample Consensus) algorithm for pose estimation, enabling multi-view point cloud registration. Experimental results demonstrate that this method significantly outperforms many existing techniques in terms of feature extraction and registration accuracy, thereby enhancing the overall performance of point cloud registration.

Deep learning-based fast prediction of flow field around multiple bluff bodies

Bluff bodies are widely employed in practical engineering, but they also introduce complex wind-induced flow characteristics, particularly due to interference effects arising from the interaction of multiple bluff bodies. Traditional wind tunnel experiments and numerical simulation methods are time-consuming and costly, posing significant challenges to design and construction. This study employed deep learning technique to rapidly predict two-dimensional flow fields around multiple bluff bodies. First, a physics-informed deep learning model is proposed, incorporating residual equations representing physical laws, i.e. the continuity and momentum equations, as loss functions. By enforcing the model training to converge in directions consistent with actual physical laws, the physics-informed deep learning model achieves rapid and high-precision predictions of the flow fields around multiple bluff bodies. Additionally, by utilizing spatially permutation invariance of point cloud method on the input of deep learning model, the data input no longer requires strict spatial constraints as in traditional methods, making it more representative of real-world data and expanding the engineering application scenarios of deep learning networks.

Point-cloud clustering and tracking algorithm for radar interferometry.

In data mining, density-based clustering, which entails classifying datapoints according to their distributions in some space, is an essential method to extract information from large datasets. With the advent of software-based radio, ionospheric radars are capable of producing unprecedentedly large datasets of plasma turbulence backscatter observations, and new automatic techniques are needed to sift through them. We present an algorithm to automatically identify and track clusters of radar echoes through time, using dbscan, a celebrated density-based clustering method for noisy point clouds. We demonstrate our algorithm's efficiency by tracking turbulent structures in the E-region ionosphere, the so-called radar aurora. Through conjugate auroral imagery, as well as in situ satellite observations, we demonstrate that the observed turbulent structures generally track the motion of auroras. What is more, the radar aurora bulk motions exhibit key qualities of auroral electric field enhancements that have previously been observed with various instruments. We present preliminary statistical results using our method, and briefly discuss the method's limitations and potential future adaptations.

A precise registration method for large-scale urban point clouds based on phased and spatial geometric features

Abstract The dense high-rise buildings and multipath effects in urban areas significantly reduce the positioning signal accuracy of laser scanning systems, leading to layering and offset issues in the collected point cloud data on the same road. In order to acquire comprehensive and consistent three-dimensional information on the objects, thereby providing field inspection data for large-scale road traffic network scenarios, in this paper, an improved point cloud registration method is proposed to divide the registration process into two stages: elevation registration and plane registration. Elevation registration takes the ground point cloud as the registration primitive, reduces the number of point clouds through curvature down-sampling, and constrains the feature point sequence with a fixed range to provide a good initial pose for fine registration. The plane registration first inherits the elevation registration parameters, combining the dynamic distance parameters of spherical region step based on the median, using robust multi-scale loss functions to address residual points, effective adjacent point pairs are selected to obtain the spatial transformation matrix, and realizes accurate registration. Experimental results with multiple sets of urban point cloud data show that the root mean square error of point cloud registration can be controlled within 0.06 m, achieving a relatively superior registration accuracy, it can provide detailed prior data for measurement information analysis.

An immersive labeling method for large point clouds

3D point clouds, such as those produced by 3D scanners, often require labeling – the accurate classification of each point into structural or semantic categories – before they can be used in their intended application. However, in the absence of fully automated methods, such labeling must be performed manually, which can prove extremely time and labor intensive. To address this we present a virtual reality tool for accelerating and improving the manual labeling of very large 3D point clouds. The labeling tool provides a variety of 3D interactions for efficient viewing, selection and labeling of points using the controllers of consumer VR-kits. The main contribution of our work is a mixed CPU/GPU-based data structure that supports rendering, selection and labeling with immediate visual feedback at high frame rates necessary for a convenient VR experience. Our mixed CPU/GPU data structure supports fluid interaction with very large point clouds in VR, what is not possible with existing continuous level-of-detail rendering algorithms. We evaluate our method with 25 users on tasks involving point clouds of up to 50 million points and find convincing results that support the case for VR-based point cloud labeling.

A robust correspondence-based registration method for large-scale outdoor point cloud

ABSTRACT Large-scale outdoor point cloud registration is essential for the 3D reconstruction of outdoor scenes. Its central objective is to achieve accurate point cloud registration by determining accurate spatial transformation parameters. While feature-based methods eliminate the need for initial position estimation, they encounter challenges in handling high outlier rates. Therefore, a method capable of effectively managing outliers is crucial for enhancing the efficiency and accuracy of large-scale outdoor point cloud registration. This paper introduces the maximal clique with adaptive voting (MCAV) method, which leverages graph-based inlier compatibility to optimize potential matches. MCAV employs adaptive parameter voting (APV) to enhance computational efficiency, demonstrating significant speedup characteristics in datasets with a significant number of inliers. To further reduce outliers in potential matches, we integrate Black-Rangarajan Duality (BRD) and graduated non-convexity (GNC) into the truncated least squares (TLS) framework (BG-TLS). Accordingly, we propose the efficient BG-TLS (EBG-TLS) method for computing the registration model. Comparative analyses with traditional and deep learning-based methods across various real-world environments demonstrate that the proposed method outperforms existing algorithms in terms of rotation error, translation error, and efficiency, particularly in complex, high-noise settings. This method finds broad applications in geospatial mapping and surveying, autonomous navigation, and environmental monitoring.

Calibration of the spherical tip radius of Rockwell hardness diamond indenters using a confocal laser scanning microscope

Abstract The precise form of an indenter is an essential part of hardness testing methods. It is therefore incumbent upon a user to ensure that the indenter geometry is calibrated before performing a hardness test. A geometric change of the tip radius by ±5 μm can cause a change of approximately 0.6 units of Rockwell hardness C scale (HRC) in a material with a hardness of 65 HRC. Keeping in mind that the measurement uncertainty is typically of the order of 0.3 HRC, it is critical to know the true value of the tip radius. Typically, tactile methods are used to determine the tip radius of a Rockwell hardness diamond indenter from the measured surface topography. Two main drawbacks of tactile measurements are the long duration of measurement and the limitation in capturing surface features of sizes smaller than the probe tip radius of 2 μm. Both could be overcome by using an optical 3D measurement. Confocal laser scanning microscopes (CLSM) allow a fast contactless 3D-mapping of the surface of Rockwell hardness diamond indenters and can be used to obtain geometric information such as the tip radius. The accuracy of these 3D measurements is still under question. Within this work, some of the influencing factors for fast 3D surface measurement are investigated. Using a CLSM with a 50x objective lens and a numerical aperture of 0.95, typical shape deviations of Rockwell diamond indenters are shown. Furthermore, an improved 3D based point cloud method for the evaluation of the indenter radius is presented. The aim of this paper is to explore the capabilities and limits of CLSM to obtain the 3D surface of a Rockwell hardness diamond indenter in order to calibrate the tip radius and compare their results with measurements from traceable stylus instruments.

Automated recognition and rebar dimensional assessment of prefabricated bridge components from low-cost 3D laser scanner

Dimension quality inspections for rebar spacing and length of prefabricated bridge components are critical for subsequent efficient assembly on-site. Currently, the traditional manual inspection method is time-consuming, labor-intensive, and error-prone. The existing commercial 3D LiDAR-based methods are difficult in making balances between inspection cost, efficiency, and accuracy. Thus, the automated recognition and segmentation method of 3D point clouds acquired by a self-developed low-cost LiDAR is proposed to evaluate the rebar spacing and length of bridge prefabricated components. Due to the high-cost commercial 3D laser scanner, a spinning 2D LiDAR-based low-cost 3D laser scanner device and geometric calibration model were developed to acquire the 3D spatial point cloud. Then, two-stage automated point cloud segmentation framework is proposed with coarse extraction of the point cloud in the interest region and fine recognition of point cloud using machine learning methods, including plane segmentation and circle fitting employing random sample consensus (RANSAC) algorithm, and rebars segmentation utilizing Gaussian mixture model (GMM) and density-based spatial clustering of applications with noise (DBSCAN) algorithm. The proposed system was evaluated in two prefabricated concrete columns and shows the potential for improving the quality inspection efficiency and accuracy.

ANN-Based Filtering of Drone LiDAR in Coastal Salt Marshes Using Spatial–Spectral Features

Salt marshes provide diverse habitats for a wide range of creatures and play a key defensive and buffering role in resisting extreme marine hazards for coastal communities. Accurately obtaining the terrains of salt marshes is crucial for the comprehensive management and conservation of coastal resources and ecology. However, dense vegetation coverage, periodic tide inundation, and pervasive ditch distribution create challenges for measuring or estimating salt marsh terrains. These environmental factors make most existing techniques and methods ineffective in terms of data acquisition resolution, accuracy, and efficiency. Drone multi-line light detection and ranging (LiDAR) has offered a fire-new perspective in the 3D point cloud data acquisition and potentially exhibited great superiority in accurately deriving salt marsh terrains. The prerequisite for terrain characterization from drone multi-line LiDAR data is point cloud filtering, which means that ground points must be discriminated from the non-ground points. Existing filtering methods typically rely on either LiDAR geometric or intensity features. These methods may not perform well in salt marshes with dense, diverse, and complex vegetation. This study proposes a new filtering method for drone multi-line LiDAR point clouds in salt marshes based on the artificial neural network (ANN) machine learning model. First, a series of spatial–spectral features at the individual (e.g., elevation, distance, and intensity) and neighborhood (e.g., eigenvalues, linearity, and sphericity) scales are derived from the original data. Then, the derived spatial–spectral features are selected to remove the related and redundant ones for optimizing the performance of the ANN model. Finally, the reserved features are integrated as input variables in the ANN model to characterize their nonlinear relationships with the point categories (ground or non-ground) at different perspectives. A case study of two typical salt marshes at the mouth of the Yangtze River, using a drone 6-line LiDAR, demonstrates the effectiveness and generalization of the proposed filtering method. The average G-mean and AUC achieved were 0.9441 and 0.9450, respectively, outperforming traditional geometric information-based methods and other advanced machine learning methods, as well as the deep learning model (RandLA-Net). Additionally, the integration of spatial–spectral features at individual–neighborhood scales results in better filtering outcomes than using either single-type or single-scale features. The proposed method offers an innovative strategy for drone LiDAR point cloud filtering and salt marsh terrain derivation under the novel solution of deeply integrating geometric and radiometric data.

Target Fitting Method for Spherical Point Clouds Based on Projection Filtering and K-Means Clustered Voxelization.

Industrial computed tomography (CT) is widely used in the measurement field owing to its advantages such as non-contact and high precision. To obtain accurate size parameters, fitting parameters can be obtained rapidly by processing volume data in the form of point clouds. However, due to factors such as artifacts in the CT reconstruction process, many abnormal interference points exist in the point clouds obtained after segmentation. The classic least squares algorithm is easily affected by these points, resulting in significant deviation of the solution of linear equations from the normal value and poor robustness, while the random sample consensus (RANSAC) approach has insufficient fitting accuracy within a limited timeframe and the number of iterations. To address these shortcomings, we propose a spherical point cloud fitting algorithm based on projection filtering and K-Means clustering (PK-RANSAC), which strategically integrates and enhances these two methods to achieve excellent accuracy and robustness. The proposed method first uses RANSAC for rough parameter estimation, then corrects the deviation of the spherical center coordinates through two-dimensional projection, and finally obtains the spherical center point set by sampling and performing K-Means clustering. The largest cluster is weighted to obtain accurate fitting parameters. We conducted a comparative experiment using a three-dimensional ball-plate standard. The sphere center fitting deviation of PK-RANSAC was 1.91 μm, which is significantly better than RANSAC's value of 25.41 μm. The experimental results demonstrate that PK-RANSAC has higher accuracy and stronger robustness for fitting geometric parameters.

A method for accurate extraction of three-dimensional point cloud feature data in loading test of container ships

The accuracy of container slot dimensions directly affects the efficiency and safety of container loading and unloading. However, traditional methods of container loading tests need to be improved for their long cycles, high costs, and low production efficiency. With the application of three-dimensional laser scanning devices in ship manufacturing, the use of simulated container loading test methods based on point cloud becomes a breakthrough in key technology for container ship construction. This paper presents a multi-objective segmentation method of cargo hold feature point cloud for container ship simulated loading tests. Data preprocessing algorithms are applied to remove noise and pseudo-image, and then a Random Sample Consensus algorithm is used to remove bulkhead and cargo bottom point clouds. Based on the density-based spatial clustering of applications with noise algorithm and the region growing algorithm, an algorithm for multiple segmentation of guide rail and bottom cone point clouds is devised, and a four-plane segmentation of guide rail point clouds is realized. Finally, a method for three-dimensional point cloud data flatness assessment and a Hausdorff distance based method for calculating the guide rail lateral and longitudinal spacing are proposed. These methods are validated through the loading test of a 16,000 TEU container ship.

HexDTM - A method of thinning LiDAR point clouds using cartographic thematic data classification

HexDTM - A method of thinning LiDAR point clouds using cartographic thematic data classification

OriFlexClust denoising method for shallow water ATL03 single-photon point clouds

Abstract Conventional clustering algorithms suffer from misclassification problems caused by uneven density and poor initial parameter choices. This paper introduces an adaptive denoising algorithm called OriFlexClust, based on directional angle continuity. Experimental results demonstrate that the OriFlexClust algorithm outperforms other clustering algorithms, effectively addressing the issues of parameter selection and uneven data density. It enhances denoising accuracy and processing speed. Therefore, the OriFlexClust algorithm proposed in this paper is more superior.

Three-dimensional continuum point cloud method for large deformation and its verification

This study presents a strong form based meshfree collocation method, which is named Continuum Point Cloud Method, to solve nonlinear field equations derived from classical mechanics for deformed bodies in three-dimensional Euclidean space. The method and its implementation are benchmarked against a nonlinear vector field using manufactured solutions. The analysis of mechanical fields firstly focuses on the study of St. Venant Kirchhoff and compressible neo-Hookean materials. Results for various initial boundary value problems are presented, including benchmark cases involving unidirectional tension and simple shear. Subsequently, the study concludes with an analysis of a displacement-controlled simulation of a compressible neo-Hookean material, specifically a bar that is pulled to 50% of its original length and rotated 90°. The pure tension case yields a 1.5% error in displacement between computed and expected values and a combined tension and torsion loading case provides further insight into material behavior under complex loading conditions. The resulting normal axial and transverse stress-strain curves are also presented. Finally, the consistency and robustness of the proposed nonlinear numerical schemes are successfully demonstrated through various numerical experiments.

Fast supervoxel segmentation of connectivity median simulation based on Manhattan distance

Supervoxels provide a more natural and compact 3D point cloud representation, which is a fundamental problem in point cloud processing and has attracted extensive attention from many scholars. At present, although the supervoxel segmentation has achieved significant results, the processing efficiency still restricts its further processing in the face of large-scale point cloud processing. Therefore, this paper proposes a new supervoxel segmentation method for point clouds to achieve fast supervoxel over-segmentation of large-scale point clouds while maintaining good boundaries and accuracy. Firstly, the supervoxel segmentation is formulated as a subset selection problem. With the idea of greedy strategy, the interval quick sorting and region growing methods is designed to realize the rapid merging of subsets in the iterative process. Secondly, the Manhattan distance metric and the seed point median simulation method are proposed to enhance the precision of iterative optimization and improve the efficiency of point cloud supervoxel segmentation. Experimental results show that, compared with state-of-the-art supervoxel segmentation method, the proposed method achieves the best results under UE, GCE, BR and other indicators, while reducing the running time of the algorithm by 10.6% to 28.3%.

A morphology-Euclidean-linear recognition method for rebar point clouds of highway tunnel linings during the construction phase

PurposeLaser point clouds are a 3D reconstruction method with wide range, high accuracy and strong adaptability. Therefore, the purpose is to discover a construction point cloud extraction method that can obtain complete information about the construction of rebar, facilitating construction quality inspection and tunnel data archiving, to reduce the cost and complexity of construction management.Design/methodology/approachFirstly, this paper analyzes the point cloud data of the tunnel during the construction phase, extracts the main features of the rebar data and proposes an M-E-L recognition method. Secondly, based on the actual conditions of the tunnel and the specifications of Chinese tunnel engineering, a rebar model experiment is designed to obtain experimental data. Finally, the feasibility and accuracy of the M-E-L recognition method are analyzed and tested based on the experimental data from the model.FindingsBased on tunnel morphology characteristics, data preprocessing, Euclidean clustering and PCA shape extraction methods, a M-E-L identification algorithm is proposed for identifying secondary lining rebars in highway tunnel construction stages. The algorithm achieves 100% extraction of the first-layer rebars, allowing for the three-dimensional visualization of the on-site rebar situation. Subsequently, through data processing, rebar dimensions and spacings can be obtained. For the second-layer rebars, 55% extraction is achieved, providing information on the rebar skeleton and partial rebar details at the construction site. These extracted data can be further processed to verify compliance with construction requirements.Originality/valueThis paper introduces a laser point cloud method for double-layer rebar identification in tunnels. Current methods rely heavily on manual detection, lacking objectivity. Objective approaches for automatic rebar identification include image-based and LiDAR-based methods. Image-based methods are constrained by tunnel lighting conditions, while LiDAR focuses on straight rebar skeletons. Our research proposes a 3D point cloud recognition algorithm for tunnel lining rebar. This method can extract double-layer rebars and obtain construction rebar dimensions, enhancing management efficiency.