Shape-based recognition of 3D point clouds in urban environments
Why is this work in the frame?
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
No Canadian affiliation. An affiliation-only frame — the usual design — would never have seen this work. It is one of the works that make the case for inverting the frame.
Machine scores (provisional)
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
- Teacher spread
- 0.206 · how far apart the two teachers sit on this one work
- Validation status
score_only:v0-immature-baseline· verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it
Abstract
This paper investigates the design of a system for recognizing objects in 3D point clouds of urban environments. The system is decomposed into four steps: locating, segmenting, characterizing, and classifying clusters of 3D points. Specifically, we first cluster nearby points to form a set of potential object locations (with hierarchical clustering). Then, we segment points near those locations into foreground and background sets (with a graph-cut algorithm). Next, we build a feature vector for each point cluster (based on both its shape and its context). Finally, we label the feature vectors using a classifier trained on a set of manually labeled objects. The paper presents several alternative methods for each step. We quantitatively evaluate the system and tradeoffs of different alternatives in a truthed part of a scan of Ottawa that contains approximately 100 million points and 1000 objects of interest. Then, we use this truth data as a training set to recognize objects amidst approximately 1 billion points of the remainder of the Ottawa scan.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
The record
- Venue
- Topic
- Remote Sensing and LiDAR Applications
- Field
- Environmental Science
- Canadian institutions
- —
- Funders
- Defense Advanced Research Projects Agency
- Keywords
- Point cloudComputer scienceArtificial intelligenceShape contextCluster analysisPattern recognition (psychology)Feature vectorComputer visionPoint of interestPoint (geometry)Classifier (UML)Feature (linguistics)Set (abstract data type)SegmentationGraphMathematicsTheoretical computer scienceImage (mathematics)
- Has abstract in OpenAlex
- yes