scholarly journals Ground Segmentation Algorithm of Lidar Point Cloud Based on Ray-Ransac

2021 ◽  
Vol 15 ◽  
pp. 970-977
Author(s):  
Yawei Zhao ◽  
Yanju Liu ◽  
Yang Yu ◽  
Jiawei Zhou
Keyword(s):  
Point Cloud ◽  
Structural Characteristics ◽  
Segmentation Algorithm ◽  
Model Parameters ◽  
Good Precision ◽  
Seed Point ◽  
Original Seed ◽  
Ground Segmentation ◽  
Point Set ◽  
Ransac Algorithm

Aiming at the problems of poor segmentation effect, low efficiency and poor robustness of the Ransac ground segmentation algorithm, this paper proposes a radar segmentation algorithm based on Ray-Ransac. This algorithm combines the structural characteristics of three-dimensional lidar and uses ray segmentation to generate the original seed point set. The random sampling of Ransac algorithm is limited to the original seed point set, which reduces the probability that Ransac algorithm extracts outliers and reduces the calculation. The Ransac algorithm is used to modify the ground model parameters so that the algorithm can adapt to the undulating roads. The standard deviation of the distance from the point to the plane model is used as the distance threshold, and the allowable error range of the actual point cloud data is considered to effectively eliminate the abnormal points and error points. The algorithm was tested on the simulation platform and the test vehicle. The experimental results show that the lidar point cloud ground segmentation algorithm proposed in this paper takes an average of 5.784 milliseconds per frame, which has fast speed and good precision. It can adapt to uneven road surface and has high robustness.

Segmentation Algorithm of Three-Dimensional Point Cloud Data Based on Region Growing

2015 ◽  
Vol 741 ◽  
pp. 382-385 ◽  
Author(s):  
Li Lun Huang ◽  
Wen Guo Li ◽  
Qi Le Yang ◽  
Ying Chun Chen
Keyword(s):  
Point Cloud ◽  
Three Dimensional ◽  
Main Idea ◽  
Region Growing ◽  
Segmentation Algorithm ◽  
3D Point Cloud ◽  
Point Cloud Data ◽  
Seed Point ◽  
Cloud Data ◽  
Set Of Points

Segmentation algorithm of 3D point cloud data based on region growing is proposed, the main idea is as follows: First, seed points in each region of object surface are searched, and then, starts from the seed point, the process of regional growing is done, which all the point cloud data belong to same surface are included until some discontinuous set of points appear. The algorithm is implemented under C, and the 3D point cloud data are showed by OPENGL software.

scholarly journals Ground Segmentation Algorithm for Sloped Terrain and Sparse LiDAR Point Cloud

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Victor Jimenez ◽  
Jorge Godoy ◽  
Antonio Artunedo ◽  
Jorge Villagra
Keyword(s):  
Point Cloud ◽  
Segmentation Algorithm ◽  
Ground Segmentation

scholarly journals A smoke image segmentation algorithm based on rough set and region growing

2019 ◽  
Vol 65 (No. 8) ◽  
pp. 321-329
Author(s):  
Haitao Wang ◽  
Yanli Chen
Keyword(s):  
Image Segmentation ◽  
Rough Set ◽  
Region Growing ◽  
Recall Rate ◽  
Segmentation Algorithm ◽  
Colour Space ◽  
Seed Point ◽  
Black Smoke ◽  
Growth Method ◽  
Image Segmentation Algorithm

Because the image fire smoke segmentation algorithm can not extract white, gray and black smoke at the same time, a smoke image segmentation algorithm is proposed by combining rough set and region growth method. The R component of the image is extracted in the RGB colour space, the roughness histogram is constructed according to the statistical histogram of the R component, and the appropriate valley value in the roughness histogram is selected as the segmentation threshold, the image is roughly segmented. Relative to the background image, the smoke belongs to the motion information, and the motion region is extracted by the interframe difference method to eliminate static interference. Smoke has a unique colour feature, a smoke colour model is created in the RGB colour space, the motion disturbances of similar colour are removed and the suspected smoke areas are obtained. The seed point is selected in the region, and the region is grown on the result of rough segmentation, the smoke region is extracted. The experimental results show that the algorithm can segment white, gray and black smoke at the same time, and the irregular information of smoke edges is relatively complete. Compared with the existing algorithms, the average segmentation accuracy, recall rate and F-value are increased by 19%, 21.5% and 20%, respectively.<br /><br />

scholarly journals Fast Image Registration for Spacecraft Autonomous Navigation Using Natural Landmarks

2018 ◽  
Vol 2018 ◽  
pp. 1-12
Author(s):  
Yun-Hua Wu ◽  
Lin-Lin Ge ◽  
Feng Wang ◽  
Bing Hua ◽  
Zhi-Ming Chen ◽  
...  
Keyword(s):  
Image Registration ◽  
Autonomous Navigation ◽  
Computational Cost ◽  
Segmentation Algorithm ◽  
Speeded Up Robust Features ◽  
Speed Up ◽  
Random Sample Consensus ◽  
Invariant Properties ◽  
Low Computational Cost ◽  
Ransac Algorithm

In order to satisfy the real-time requirement of spacecraft autonomous navigation using natural landmarks, a novel algorithm called CSA-SURF (chessboard segmentation algorithm and speeded up robust features) is proposed to improve the speed without loss of repeatability performance of image registration progress. It is a combination of chessboard segmentation algorithm and SURF. Here, SURF is used to extract the features from satellite images because of its scale- and rotation-invariant properties and low computational cost. CSA is based on image segmentation technology, aiming to find representative blocks, which will be allocated to different tasks to speed up the image registration progress. To illustrate the advantages of the proposed algorithm, PCA-SURF, which is the combination of principle component analysis and SURF, is also analyzed in this paper for comparison. Furthermore, random sample consensus (RANSAC) algorithm is applied to eliminate the false matches for further accuracy improvement. The simulation results show that the proposed strategy obtains good results, especially in scaling and rotation variation. Besides, CSA-SURF decreased 50% of the time in extraction and 90% of the time in matching without losing the repeatability performance by comparing with SURF algorithm. The proposed method has been demonstrated as an alternative way for image registration of spacecraft autonomous navigation using natural landmarks.

scholarly journals Distilling Deep Structural Facial Relationships for FAU Intensity Estimation

2021 ◽  
Author(s):  
Yingruo Fan ◽  
Jacqueline CK Lam ◽  
Victor On Kwok Li
Keyword(s):  
Structural Characteristics ◽  
Model Performance ◽  
Training Model ◽  
Model Parameters ◽  
Intensity Estimation ◽  
Structural Relationships ◽  
Proposed Model ◽  
Comparable Performance ◽  
Knowledge Distillation ◽  
The Difference

<div> <div> <div> <p>Facial emotions are expressed through a combination of facial muscle movements, namely, the Facial Action Units (FAUs). FAU intensity estimation aims to estimate the intensity of a set of structurally dependent FAUs. Contrary to the existing works that focus on improving FAU intensity estimation, this study investigates how knowledge distillation (KD) incorporated into a training model can improve FAU intensity estimation efficiency while achieving the same level of performance. Given the intrinsic structural characteristics of FAU, it is desirable to distill deep structural relationships, namely, DSR-FAU, using heatmap regression. Our methodology is as follows: First, a feature map-level distillation loss was applied to ensure that the student network and the teacher network share similar feature distributions. Second, the region-wise and channel-wise relationship distillation loss functions were introduced to penalize the difference in structural relationships. Specifically, the region-wise relationship can be represented by the structural correlations across the facial features, whereas the channel-wise relationship is represented by the implicit FAU co-occurrence dependencies. Third, we compared the model performance of DSR-FAU with the state-of-the-art models, based on two benchmarking datasets. Our proposed model achieves comparable performance with other baseline models, though requiring a lower number of model parameters and lower computation complexities. </p> </div> </div> </div>

Urban Ground Segmentation Algorithm Based on Ray Slope Threshold

2019 ◽  
Vol 39 (9) ◽  
pp. 0928004
Author(s):  
李炯 Jiong Li ◽  
赵凯 Kai Zhao ◽  
白睿 Rui Bai ◽  
朱愿 Yuan Zhu ◽  
徐友春 Youchun Xu
Keyword(s):  
Segmentation Algorithm ◽  
Ground Segmentation
Sign in / Sign up

Export Citation Format

Share Document