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

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3922-3929
Number of pages8
Volume2015-December
ISBN (Print)9781479999941
DOIs
Publication statusPublished - 2015 Dec 11
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: 2015 Sep 282015 Oct 2

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period15/9/2815/10/2

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

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  • Cite this

    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, pp. 3922-3929). [7353929] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353929