Robust 3D Object Detection from LiDAR Point Cloud Data with Spatial Information Aggregation

Aranjuelo, Nerea; Engels, Guus; Unzueta, Luis; Arganda‐Carreras, Ignacio; Nieto, Marcos; Otaegui, Oihana

doi:10.1007/978-3-030-57802-2_78

Cited by 3 publications

(2 citation statements)

References 17 publications

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“…Where, (x3, y3, z3) variable is random point-3, (x2, y2, z2) variable is random point-2, and (x1, y1, z1) is random point-1. Meanwhile, the value of l in Equation ( 3) can be obtained using Equation (7),…”

Section: B Segmentation and Clusteringmentioning

confidence: 99%

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3D Object Detection Based on Point Cloud Data

Sari

Pramadihanto

Pratama

et al. 2022

Inf. J. Ilm. Bid. Teknol. Inf. dan Komun.

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In the Industrial robotic, computer vision is an important part of the system. The popular object used in the industrial field is a 3D pipe. The problem that is currently being developed is how to detect an object. This research aims to estimate the object detection that is, in this case, is a 3D pipe in various lighting conditions. The camera used in this research is Time of Flight. The methods applied are Remove NaN data for Pre-processing, Random Sample Consensus (RANSAC) for Segmentation, Euclidean Distance for Clustering, and Viewpoint Feature Histogram (VFH) for the object detection. A study conducted on five different objects found that the system could detect each one with a success rate of 100% for the first object, 98.05 percent for the second object, 93.97 percent for the third object, 94 percent for the fourth object, and 99.48 percent for the fifth object. Overall, the system's accuracy in detecting the object is 97.1 percent when four different lighting conditions are applied to five different objects in total.

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Section: B Segmentation and Clusteringmentioning

confidence: 99%

“…There are some types of data input used for object detection. One of them is point cloud data which gives a robust object detection [7]. A camera device that can produce the point cloud data is a Time of Flight (ToF) camera.…”

Section: Introductionmentioning

confidence: 99%