TY - GEN
T1 - Point cloud segmentation with LIDAR reflection intensity behavior
AU - Tatoglu, Akin
AU - Pochiraju, Kishore
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84864435051&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864435051&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6225224
DO - 10.1109/ICRA.2012.6225224
M3 - Conference contribution
AN - SCOPUS:84864435051
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 786
EP - 790
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -