Inlier Point Preservation in Outlier Points Removed from the ALS Point Cloud

Zeybek, Mustafa

doi:10.1007/s12524-021-01397-4

Cited by 6 publications

(4 citation statements)

References 40 publications

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“…The goal of these techniques is to correctly classify inliers and outliers from the acquired data. In [ 30 ], the 3D data were first preprocessed with an SOR-type procedure and then points marked as outliers were reclassified using random forest (RF) and support vector machine (SVM) techniques. Isolation forest (IF) and elliptic envelope (EE) methods were used to classify outliers in synthetic data and two scans of a building [ 31 ].…”

Section: Related Work On Filtering 3d Point Cloudsmentioning

confidence: 99%

Filtering Organized 3D Point Clouds for Bin Picking Applications

Franaszek,

Rachakonda,

Saidi

2024

Applied Sciences

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In robotic bin-picking applications, autonomous robot action is guided by a perception system integrated with the robot. Unfortunately, many perception systems output data contaminated by spurious points that have no correspondence to the real physical objects. Such spurious points in 3D data are the outliers that may spoil obstacle avoidance planning executed by the robot controller and impede the segmentation of individual parts in the bin. Thus, they need to be removed. Many outlier removal procedures have been proposed that work very well on unorganized 3D point clouds acquired for different, mostly outdoor, scenarios, but these usually do not transfer well to the manufacturing domain. This paper presents a new filtering technique specifically designed to deal with the organized 3D point cloud acquired from a cluttered scene, which is typical for a bin-picking task. The new procedure was tested on six different datasets (bins filled with different parts) and its performance was compared with the generic statistical outlier removal procedure. The new method outperforms the general procedure in terms of filtering efficacy, especially on datasets heavily contaminated by numerous outliers.

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Section: Related Work On Filtering 3d Point Cloudsmentioning

confidence: 99%

Filtering Organized 3D Point Clouds for Bin Picking Applications

Franaszek,

Rachakonda,

Saidi

2024

Applied Sciences

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“…This tool is often used to filter outlier data [56,[79][80][81][82][83]. In the third step, an advanced SOR filter (Statistical Outlier Removal) was used.…”

Section: Sor (Statistical Outlier Removal) Filtermentioning

confidence: 99%

“…This filter was used for each extracted point cloud (n = 29). An iterative process was performed in a similar manner to other examples [80,82,83], with the aim of selecting the most appropriate parameters based on subjective opinion and knowing that the values should be adjusted according to the specific characteristics of the recorded scene. We sought to achieve a reduction in the number of noise points and to maintain the seafloor geometry.…”

Section: Sor (Statistical Outlier Removal) Filtermentioning

confidence: 99%

Bathymetric Survey of the St. Anthony Channel (Croatia) Using Multibeam Echosounders (MBES)—A New Methodological Semi-Automatic Approach of Point Cloud Post-Processing

Šiljeg

Marić

Domazetović

et al. 2022

JMSE

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Multibeam echosounders (MBES) have become a valuable tool for underwater floor mapping. However, MBES data are often loaded with different measurement errors. This study presents a new user-friendly and methodological semi-automatic approach of point cloud post-processing error removal. The St. Anthony Channel (Croatia) was selected as the research area because it is regarded as one of the most demanding sea or river passages in the world and it is protected as a significant landscape by the Šibenik-Knin County. The two main objectives of this study, conducted within the Interreg Italy–Croatia PEPSEA project, were to: (a) propose a methodological framework that would enable the easier and user-friendly identification and removal of the errors in MBES data; (b) create a high-resolution integral model (MBES and UAV data) of the St. Anthony Channel for maritime safety and tourism promotion purposes. A hydrographic survey of the channel was carried out using WASSP S3 MBES while UAV photogrammetry was performed using Matrice 210 RTK V2. The proposed semi-automatic post-processing of the MBES acquired point cloud was completed in the Open Source CloudCompare software following five steps in which various point filtering methods were used. The reduction percentage in points after the denoising process was 14.11%. Our results provided: (a) a new user-friendly methodological framework for MBES point filtering; (b) a detailed bathymetric map of the St. Anthony Channel with a spatial resolution of 50 cm; and (c) the first integral (MBES and UAV) high-resolution model of the St. Anthony Channel. The generated models can primarily be used for maritime safety and tourism promotion purposes. In future research, ground-truthing methods (e.g., ROVs) will be used to validate the generated models.

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“…LiDAR sistemlerinin temel bileşenleri, lazer tarama, Küresel Konum Belirleme Sistemi (GNSS) ve atalet ölçüm birimi (IMU) entegrasyonu ile tanımlanır (Vosselman & Maas, 2010). Havasal platformlar sayesinde çok geniş alanların haritalanması, temel koordinat ve karakteristik sinyal yansıma bilgilerinin toplanmasını çok kısa sürede gerçekleştirir (Zeybek, 2021). LiDAR sistemleri, diğer uzaktan algılama ve ölçme tekniklerine göre daha yüksek çözünürlüğe ve daha düşük maliyete sahiptir (Sameen & Pradhan, 2016).…”

Section: Introductionunclassified

Havasal LiDAR nokta bulutlarından yol ağlarının çıkarımı, Bergama test alanı

Zeybek

2022

LiDAR

Self Cite

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Kentsel alanlarda ulaşımın en temel faktörü karayoludur. Karayolları kent içinde sürdürülebilir bir ulaşım faktör olmanın yanında sürekli olarak kullanılması elzem ulaşım alanıdır. Kentsel alanlardaki yolların envanter, proje ve planlarının temin edilmesi akıllı şehirlerin üretilmesinde önemli bir altyapıdır. Navigasyon amaçlı kullanımının yanında kent planlarının üretilmesinde güncel durum tespiti açısından yol ağlarının haritalandırılması gerekmektedir. Yersel ölçmelerle yapılan işlemler zahmetli ve ekonomik külfeti yüksektir. Gelişen teknoloji ile yalnızca geleneksel ve yersel ölçme teknikleri değil benzer prensiplerle çalışan daha etkili ve geniş alanların haritalandırılmasına katkı sağlayan ölçme tekniklerinin kullanılması önemli avantajlar sağlamaktadır. Bu çalışmada yol ağlarının yarı otomatik çıkarımı için bir metodoloji önerilmiştir. Önerilen çalışma, ham LiDAR nokta bulutlarının ön işlemesi, yükseklik deviasyonunun hesaplanması, düzlemsellik ve bağlantılı bileşenler analizine dayanmaktadır. Bazı parametrelerin kullanıcı tarafından deneme yanılma yöntemiyle girilmesi nedeniyle yöntem yarı otomatik olarak çalışmaktadır. Test bölgesi Harita Genel Müdürlüğü tarafından ölçümü yapılan Bergama test bölgesidir. Elde edilen sonuçlar manuel çizimlerle karşılaştırıldığında, nokta bulutlarında tespit edilen yol bölgeleri önerilen metodoloji ile daha verimli olarak tespit edilebilmiştir.

show abstract

Inlier Point Preservation in Outlier Points Removed from the ALS Point Cloud

Cited by 6 publications

References 40 publications

Filtering Organized 3D Point Clouds for Bin Picking Applications

Filtering Organized 3D Point Clouds for Bin Picking Applications

Bathymetric Survey of the St. Anthony Channel (Croatia) Using Multibeam Echosounders (MBES)—A New Methodological Semi-Automatic Approach of Point Cloud Post-Processing

Havasal LiDAR nokta bulutlarından yol ağlarının çıkarımı, Bergama test alanı

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