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Dergiler / Black Sea Journal of Engineering and Science / 2020 / Cilt: 3 - Sayı: 4

A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data

Eyüp Eymen ERUYAR
Metehan YILMAZ
Berat YILMAZ
Onur AKBULUT
Kaya TURGUT
Burak KALECİ
Sayfa
128–137
Yayın Tarihi
2020-10-01
DOI
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Yapay Zeka Hızlı Bakış & Çıkarımlar

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⚡ TL;DR(1 Cümlede Hızlı Çıkarım)

In this way, we revealed the positive and negative aspects of these methods for researchers that plan to apply them to 3D laser point cloud data.

📌 3 Maddede Bu Makale

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Amaç & Hipotez:In recent years, point cloud data generated with RGB-D cameras, 3D lasers, and 3D LiDARs have been employed frequently in robotic applications.
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Temel Bulgular & Veri:On the other hand, 3D lasers and LiDARs can capture long-range measurements and generally are used in outdoor applications.
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Sonuç & Katkı:In this way, we revealed the positive and negative aspects of these methods for researchers that plan to apply them to 3D laser point cloud data.
🔬Tür:Araştırma Makalesi
📍Kapsam:Genişletilmiş Akademik Örneklem
⚙️Değişkenler:3D laser · Segmentation · Planar surfaces

Abstract

In recent years, point cloud data generated with RGB-D cameras, 3D lasers, and 3D LiDARs have been employed frequently in robotic applications. In indoor environments, RGB-D cameras, which have short-range and can only describe the vicinity of the robots, generally are opted due to their low cost. On the other hand, 3D lasers and LiDARs can capture long-range measurements and generally are used in outdoor applications. In this study, we deal with the segmentation of indoor planar surfaces such as wall, floor, and ceiling via point cloud data. The segmentation methods, which are situated in Point Cloud Library (PCL) were executed with 3D laser point cloud data. The experiments were conducted to evaluate the performance of these methods with the publicly available Fukuoka indoor laser dataset, which has point clouds with different noise levels. The test results were compared in terms of segmentation accuracy and the time elapsed for segmentation. Besides, the general characteristics of each method were discussed. In this way, we revealed the positive and negative aspects of these methods for researchers that plan to apply them to 3D laser point cloud data.

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Bu Makaleye Atıf Yap

ERUYAR, E. E., YILMAZ, M., YILMAZ, B., AKBULUT, O., TURGUT, K., KALECİ, B. (2020). A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data. Black Sea Journal of Engineering and Science, Cilt: 3 - Sayı: 4, 128–137. https://ajindex.com/articles/745085

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Kaynakça (14)

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