Point cloud segmentation with LIDAR reflection intensity behavior

Akin Tatoglu, Kishore Pochiraju

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

51 Scopus citations

Abstract

Light Detection and Ranging (LIDAR) scans are increasingly being used for 3D map construction and reverse engineering. The utility and benefit of the processed data maybe enhanced if the objects and geometry of the area scanned can be segmented and labeled. In this paper, we present techniques to model the intensity of the laser reflection return from a point during LIDAR scanning to determine diffuse and specular reflection properties of the scanned surface. Using several illumination models, the reflection properties of the surface are characterized by Lambertian diffuse reflection model and Blinn-Phong, Gaussian and Beckmann specular models. Experimental set up with eight different surfaces with varied textures and glossiness enabled measurement of algorithm performance. Examples of point cloud segmentation with the presented approach are presented.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Pages786-790
Number of pages5
DOIs
StatePublished - 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 14 May 201218 May 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/TerritoryUnited States
CitySaint Paul, MN
Period14/05/1218/05/12

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