Convex Cut: A realtime pseudo-structure extraction algorithm for 3D point cloud data

Changhyun Jun; Jihwan Youn; Jongmoo Choi; Gérard Medioni; Nakju Doh

doi:10.1109/IROS.2015.7353929

Convex Cut: A realtime pseudo-structure extraction algorithm for 3D point cloud data

Changhyun Jun, Jihwan Youn, Jongmoo Choi, Gérard Medioni, Nakju Doh

School of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

Abstract

In this paper, a realtime pseudo-structure extraction algorithm for 3D indoor point cloud data (PCD) is proposed. This algorithm is called Convex Cut (CC) because of its two main steps: cutting the PCD with arbitrary planes, and extracting convex parts. CC can be used as a preprocessing module for other existing algorithms to extract static parts in dynamic environments or to represent a principal 3D model of a given PCD. Its calculation time is 24 milliseconds for 50k PCD on a consumer PC, and it yields a precision value of 0.90 and a recall value of 0.99 on average in highly dynamic and cluttered environments. Some possible applications are explained such as simultaneous localization and mapping in dynamic environments, efficient dense map representation, robust 3D scan matching with plane features, and natural motion planning.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3922-3929
Number of pages	8
Volume	2015-December
ISBN (Print)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353929
Publication status	Published - 2015 Dec 11
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 2015 Sep 28 → 2015 Oct 2

Other

Other	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	15/9/28 → 15/10/2

Keywords

Feature extraction
Heuristic algorithms
Laser radar
Parallel processing
Planning
Solid modeling
Three-dimensional displays

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2015.7353929

Cite this

Convex Cut : A realtime pseudo-structure extraction algorithm for 3D point cloud data. / Jun, Changhyun; Youn, Jihwan; Choi, Jongmoo; Medioni, Gérard; Doh, Nakju.

IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 3922-3929 7353929.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Jun, C, Youn, J, Choi, J, Medioni, G & Doh, N 2015, Convex Cut: A realtime pseudo-structure extraction algorithm for 3D point cloud data. in IEEE International Conference on Intelligent Robots and Systems. vol. 2015-December, 7353929, Institute of Electrical and Electronics Engineers Inc., pp. 3922-3929, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 15/9/28. https://doi.org/10.1109/IROS.2015.7353929

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abstract = "In this paper, a realtime pseudo-structure extraction algorithm for 3D indoor point cloud data (PCD) is proposed. This algorithm is called Convex Cut (CC) because of its two main steps: cutting the PCD with arbitrary planes, and extracting convex parts. CC can be used as a preprocessing module for other existing algorithms to extract static parts in dynamic environments or to represent a principal 3D model of a given PCD. Its calculation time is 24 milliseconds for 50k PCD on a consumer PC, and it yields a precision value of 0.90 and a recall value of 0.99 on average in highly dynamic and cluttered environments. Some possible applications are explained such as simultaneous localization and mapping in dynamic environments, efficient dense map representation, robust 3D scan matching with plane features, and natural motion planning.",

keywords = "Feature extraction, Heuristic algorithms, Laser radar, Parallel processing, Planning, Solid modeling, Three-dimensional displays",

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AU - Doh, Nakju

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N2 - In this paper, a realtime pseudo-structure extraction algorithm for 3D indoor point cloud data (PCD) is proposed. This algorithm is called Convex Cut (CC) because of its two main steps: cutting the PCD with arbitrary planes, and extracting convex parts. CC can be used as a preprocessing module for other existing algorithms to extract static parts in dynamic environments or to represent a principal 3D model of a given PCD. Its calculation time is 24 milliseconds for 50k PCD on a consumer PC, and it yields a precision value of 0.90 and a recall value of 0.99 on average in highly dynamic and cluttered environments. Some possible applications are explained such as simultaneous localization and mapping in dynamic environments, efficient dense map representation, robust 3D scan matching with plane features, and natural motion planning.

AB - In this paper, a realtime pseudo-structure extraction algorithm for 3D indoor point cloud data (PCD) is proposed. This algorithm is called Convex Cut (CC) because of its two main steps: cutting the PCD with arbitrary planes, and extracting convex parts. CC can be used as a preprocessing module for other existing algorithms to extract static parts in dynamic environments or to represent a principal 3D model of a given PCD. Its calculation time is 24 milliseconds for 50k PCD on a consumer PC, and it yields a precision value of 0.90 and a recall value of 0.99 on average in highly dynamic and cluttered environments. Some possible applications are explained such as simultaneous localization and mapping in dynamic environments, efficient dense map representation, robust 3D scan matching with plane features, and natural motion planning.

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KW - Parallel processing

KW - Planning

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Convex Cut: A realtime pseudo-structure extraction algorithm for 3D point cloud data

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Keywords

ASJC Scopus subject areas

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