Shape Of Point Cloud Research Articles

Iterative most-likely point registration (IMLP): a robust algorithm for computing optimal shape alignment.

We present a probabilistic registration algorithm that robustly solves the problem of rigid-body alignment between two shapes with high accuracy, by aptly modeling measurement noise in each shape, whether isotropic or anisotropic. For point-cloud shapes, the probabilistic framework additionally enables modeling locally-linear surface regions in the vicinity of each point to further improve registration accuracy. The proposed Iterative Most-Likely Point (IMLP) algorithm is formed as a variant of the popular Iterative Closest Point (ICP) algorithm, which iterates between point-correspondence and point-registration steps. IMLP’s probabilistic framework is used to incorporate a generalized noise model into both the correspondence and the registration phases of the algorithm, hence its name as a most-likely point method rather than a closest-point method. To efficiently compute the most-likely correspondences, we devise a novel search strategy based on a principal direction (PD)-tree search. We also propose a new approach to solve the generalized total-least-squares (GTLS) sub-problem of the registration phase, wherein the point correspondences are registered under a generalized noise model. Our GTLS approach has improved accuracy, efficiency, and stability compared to prior methods presented for this problem and offers a straightforward implementation using standard least squares. We evaluate the performance of IMLP relative to a large number of prior algorithms including ICP, a robust variant on ICP, Generalized ICP (GICP), and Coherent Point Drift (CPD), as well as drawing close comparison with the prior anisotropic registration methods of GTLS-ICP and A-ICP. The performance of IMLP is shown to be superior with respect to these algorithms over a wide range of noise conditions, outliers, and misalignments using both mesh and point-cloud representations of various shapes.

Buildings and Terrain of Urban Area Point Cloud Segmentation based on PCL

One current problem with laser radar point data classification is building and urban terrain segmentation, this paper proposes a point cloud segmentation method base on PCL libraries. PCL is a large cross-platform open source C++ programming library, which implements a large number of point cloud related efficient data structures and generic algorithms involving point cloud retrieval, filtering, segmentation, registration, feature extraction and curved surface reconstruction, visualization, etc. Due to laser radar point cloud characteristics with large amount of data, unsymmetrical distribution, this paper proposes using the data structure of kd-tree to organize data; then using Voxel Grid filter for point cloud resampling, namely to reduce the amount of point cloud data, and at the same time keep the point cloud shape characteristic; use PCL Segmentation Module, we use a Euclidean Cluster Extraction class with Europe clustering for buildings and ground three-dimensional point cloud segmentation. The experimental results show that this method avoids the multiple copy system existing data needs, saves the program storage space through the call of PCL library method and class, shortens the program compiled time and improves the running speed of the program.

Detection, classification and estimation of individual shapes in 2D and 3D point clouds

The problems of detecting, classifying, and estimating shapes in point cloud data are important due to their general applicability in image analysis, computer vision, and graphics. They are challenging because the data is typically noisy, cluttered, and unordered. We study these problems using a fully statistical model where the data is modeled using a Poisson process on the object’s boundary (curves or surfaces), corrupted by additive noise and a clutter process. Using likelihood functions dictated by the model, we develop a generalized likelihood ratio test for detecting a shape in a point cloud. This ratio test is based on optimizing over some unknown parameters, including the pose and scale associated with hypothesized objects, and an empirical evaluation of the log-likelihood ratio distribution. Additionally, we develop a procedure for estimating most likely shapes in observed point clouds under given shape hypotheses. We demonstrate this framework using examples of 2D and 3D shape detection and estimation in both real and simulated data, and a usage of this framework in shape retrieval from a 3D shape database.

Enhanced spatiotemporal relational probability trees and forests

Many real world domains are inherently spatiotemporal in nature. In this work, we introduce significant enhancements to two spatiotemporal relational learning methods, the spatiotemporal relational probability tree and the spatiotemporal relational random forest, that increase their ability to learn using spatiotemporal data. We enabled the models to formulate questions on both objects and the scalar and vector fields within and around objects, allowing the models to differentiate based on the gradient, divergence, and curl and to recognize the shape of point clouds defined by fields. This enables the model to ask questions about the change of a shape over time or about its orientation. These additions are validated on several real-world hazardous weather datasets. We demonstrate that these additions enable the models to learn robust classifiers that outperform the versions without these new additions. In addition, analysis of the learned models shows that the findings are consistent with current meteorological theories.

Tree species classification from fused active hyperspectral reflectance and LIDAR measurements

A new terrestrial laser system was tested for tree species classification. A dataset consisting of shape parameters of three boreal tree species was collected with Light Detection and Ranging (LIDAR) and integrated with an actively measured reflectance hyperspectra. Tree species were classified using parameters derived from reflectance spectra and point cloud shape distribution. Classification performance was tested with individual, paired, and mixed combinations of both reflectance and shape parameters. The best classification results were obtained with combined datasets consisting of two reflectance and two shape parameters. Of all tested classification parameter combinations, 67.5% were able to classify all trees with over 90% accuracy. The best reflectance spectrum bands for the examined species were located around 550 and 700nm. The best shape parameters described the upper midsection or the tops of the trees. This study was a successful step in developing classification algorithms for integrated LIDAR and hyperspectral data.

Extracting lines of curvature from noisy point clouds

We present a robust framework for extracting lines of curvature from point clouds. First, we show a novel approach to denoising the input point cloud using robust statistical estimates of surface normal and curvature which automatically rejects outliers and corrects points by energy minimization. Then the lines of curvature are constructed on the point cloud with controllable density. Our approach is applicable to surfaces of arbitrary genus, with or without boundaries, and is statistically robust to noise and outliers while preserving sharp surface features. We show our approach to be effective over a range of synthetic and real-world input datasets with varying amounts of noise and outliers. The extraction of curvature information can benefit many applications in CAD, computer vision and graphics for point cloud shape analysis, recognition and segmentation. Here, we show the possibility of using the lines of curvature for feature-preserving mesh construction directly from noisy point clouds.

Three-dimensional beta shapes

The Voronoi diagram of a point set has been extensively used in various disciplines ever since it was first proposed. Its application realms have been even further extended to estimate the shape of point clouds when Edelsbrunner and Mücke introduced the concept of α -shape based on the Delaunay triangulation of a point set. In this paper, we present the theory of β -shape for a set of three-dimensional spheres as the generalization of the well-known α -shape for a set of points. The proposed β -shape fully accounts for the size differences among spheres and therefore it is more appropriate for the efficient and correct solution for applications in biological systems such as proteins. Once the Voronoi diagram of spheres is given, the corresponding β -shape can be efficiently constructed and various geometric computations on the sphere complex can be efficiently and correctly performed. It turns out that many important problems in biological systems such as proteins can be easily solved via the Voronoi diagram of atoms in proteins and β -shapes transformed from the Voronoi diagram.