A LiDAR Point Clouds Dataset of Ships in a Maritime Environment

For the first time, this article introduces a LiDAR Point Clouds Dataset of Ships composed of both collected and simulated data to address the scarcity of LiDAR data in maritime applications. The collected data are acquired using specialized maritime LiDAR sensors in both inland waterways and wide-open ocean environments. The simulated data is generated by placing a ship in the LiDAR coordinate system and scanning it with a redeveloped Blensor that emulates the operation of a LiDAR sensor equipped with various laser beams. Furthermore,we also render point clouds for foggy and rainy weather conditions. To describe a realistic shipping environment, a dynamic tail wave is modeled by iterating the wave elevation of each point in a time series. Finally, networks serving small objects are migrated to ship applications by feeding our dataset. The positive effect of simulated data is described in object detection experiments, and the negative impact of tail waves as noise is verified in single-object tracking experiments. The Dataset is available at https://github.com/zqy411470859/ship_dataset.

SGT-Net: A Transformer-Based Stratified Graph Convolutional Network for 3D Point Cloud Semantic Segmentation

In recent years,semantic segmentation on 3D point cloud data has attracted much attention.Unlike 2D images where pixels distribute regularly in the image domain,3D point clouds in non-Euclidean space are irregular and inherently sparse.Therefore,it is very difficult to extract long-range contexts and effectively aggregate local features for semantic segmentation in 3D point cloud space.Most current methods either focus on local feature aggregation or long-range context dependency,but fail to directly establish a global-local feature extractor to complete the point cloud semantic segmentation tasks.In this paper,we propose a Transformer-based stratified graph convolutional network(SGT-Net),which enlarges the effective receptive field and builds direct long-range dependency.Specifically,we first propose a novel dense-sparse sampling strategy that provides dense local vertices and sparse long-distance vertices for subsequent graph convolutional network(GCN).Secondly,we propose a multi-key self-attention mechanism based on the Transformer to further weight augmentation for crucial neighboring relationships and enlarge the effective receptive field.In addition,to further improve the efficiency of the network,we propose a similarity measurement module to determine whether the neighborhood near the center point is effective.We demonstrate the validity and superiority of our method on the S3DIS and ShapeNet datasets.Through ablation experiments and segmentation visualization,we verify that the SGT model can improve the performance of the point cloud semantic segmentation.

A Random Fusion of Mix 3D and Polar Mix to Improve Semantic Segmentation Performance in 3D Lidar Point Cloud

This paper focuses on the effective utilization of data augmentation techniques for 3Dlidar point clouds to enhance the performance of neural network models.These point clouds,which represent spatial information through a collection of 3D coordinates,have found wide-ranging applications.Data augmentation has emerged as a potent solution to the challenges posed by limited labeled data and the need to enhance model generalization capabilities.Much of the existing research is devoted to crafting novel data augmentation methods specifically for 3D lidar point clouds.However,there has been a lack of focus on making the most of the numerous existing augmentation techniques.Addressing this deficiency,this research investigates the possibility of combining two fundamental data augmentation strategies.The paper introduces PolarMix andMix3D,two commonly employed augmentation techniques,and presents a new approach,named RandomFusion.Instead of using a fixed or predetermined combination of augmentation methods,RandomFusion randomly chooses one method from a pool of options for each instance or sample.This innovative data augmentation technique randomly augments each point in the point cloud with either PolarMix or Mix3D.The crux of this strategy is the random choice between PolarMix and Mix3Dfor the augmentation of each point within the point cloud data set.The results of the experiments conducted validate the efficacy of the RandomFusion strategy in enhancing the performance of neural network models for 3D lidar point cloud semantic segmentation tasks.This is achieved without compromising computational efficiency.By examining the potential of merging different augmentation techniques,the research contributes significantly to a more comprehensive understanding of how to utilize existing augmentation methods for 3D lidar point clouds.RandomFusion data augmentation technique offers a simple yet effective method to leverage the diversity of augmentation techniques and boost the robustness of models.The insights gained from this research can pave the way for future work aimed at developing more advanced and efficient data augmentation strategies for 3D lidar point cloud analysis.

Research on BIM Model Reshaping Method Based on 3D Point Cloud Recognition

In view of the limitations of traditional measurement methods in the field of building information,such as complex operation,low timeliness and poor accuracy,a new way of combining three-dimensional scanning technology and BIM(Building Information Modeling)model was discussed.Focused on the efficient acquisition of building geometric information using the fast-developing 3D point cloud technology,an improved deep learning-based 3D point cloud recognition method was proposed.The method optimised the network structure based on RandLA-Net to adapt to the large-scale point cloud processing requirements,while the semantic and instance features of the point cloud were integrated to significantly improve the recognition accuracy and provide a precise basis for BIM model remodeling.In addition,a visual BIM model generation system was developed,which systematically transformed the point cloud recognition results into BIM component parameters,automatically constructed BIM models,and promoted the open sharing and secondary development of models.The research results not only effectively promote the automation process of converting 3D point cloud data to refined BIM models,but also provide important technical support for promoting building informatisation and accelerating the construction of smart cities,showing a wide range of application potential and practical value.

Building Facade Point Clouds Segmentation Based on Optimal Dual-Scale Feature Descriptors

To address the current issues of inaccurate segmentation and the limited applicability of segmentation methods for building facades in point clouds, we propose a facade segmentation algorithm based on optimal dual-scale feature descriptors. First, we select the optimal dual-scale descriptors from a range of feature descriptors. Next, we segment the facade according to the threshold value of the chosen optimal dual-scale descriptors. Finally, we use RANSAC (Random Sample Consensus) to fit the segmented surface and optimize the fitting result. Experimental results show that, compared to commonly used facade segmentation algorithms, the proposed method yields more accurate segmentation results, providing a robust data foundation for subsequent 3D model reconstruction of buildings.

Development of vehicle-recognition method on water surfaces using LiDAR data:SPD^(2)(spherically stratified point projection with diameter and distance)

Swarm robot systems are an important application of autonomous unmanned surface vehicles on water surfaces.For monitoring natural environments and conducting security activities within a certain range using a surface vehicle,the swarm robot system is more efficient than the operation of a single object as the former can reduce cost and save time.It is necessary to detect adjacent surface obstacles robustly to operate a cluster of unmanned surface vehicles.For this purpose,a LiDAR(light detection and ranging)sensor is used as it can simultaneously obtain 3D information for all directions,relatively robustly and accurately,irrespective of the surrounding environmental conditions.Although the GPS(global-positioning-system)error range exists,obtaining measurements of the surface-vessel position can still ensure stability during platoon maneuvering.In this study,a three-layer convolutional neural network is applied to classify types of surface vehicles.The aim of this approach is to redefine the sparse 3D point cloud data as 2D image data with a connotative meaning and subsequently utilize this transformed data for object classification purposes.Hence,we have proposed a descriptor that converts the 3D point cloud data into 2D image data.To use this descriptor effectively,it is necessary to perform a clustering operation that separates the point clouds for each object.We developed voxel-based clustering for the point cloud clustering.Furthermore,using the descriptor,3D point cloud data can be converted into a 2D feature image,and the converted 2D image is provided as an input value to the network.We intend to verify the validity of the proposed 3D point cloud feature descriptor by using experimental data in the simulator.Furthermore,we explore the feasibility of real-time object classification within this framework.

3D Ice Shape Description Method Based on BLSOM Neural Network

When checking the ice shape calculation software,its accuracy is judged based on the proximity between the calculated ice shape and the typical test ice shape.Therefore,determining the typical test ice shape becomes the key task of the icing wind tunnel tests.In the icing wind tunnel test of the tail wing model of a large amphibious aircraft,in order to obtain accurate typical test ice shape,the Romer Absolute Scanner is used to obtain the 3D point cloud data of the ice shape on the tail wing model.Then,the batch-learning self-organizing map(BLSOM)neural network is used to obtain the 2D average ice shape along the model direction based on the 3D point cloud data of the ice shape,while its tolerance band is calculated using the probabilistic statistical method.The results show that the combination of 2D average ice shape and its tolerance band can represent the 3D characteristics of the test ice shape effectively,which can be used as the typical test ice shape for comparative analysis with the calculated ice shape.

A novel method for extracting skeleton of fruit treefrom 3D point clouds

Tree skeleton could be useful to agronomy researchers because the skeleton describes the shape and topological structure of a tree.The phenomenon of organs’mutual occlusion in fruit tree canopy is usually very serious,this should result in a large amount of data missing in directed laser scanning 3D point clouds from a fruit tree.However,traditional approaches can be ineffective and problematic in extracting the tree skeleton correctly when the tree point clouds contain occlusions and missing points.To overcome this limitation,we present a method for accurate and fast extracting the skeleton of fruit tree from laser scanner measured 3D point clouds.The proposed method selects the start point and endpoint of a branch from the point clouds by user’s manual interaction,then a backward searching is used to find a path from the 3D point cloud with a radius parameter as a restriction.The experimental results in several kinds of fruit trees demonstrate that our method can extract the skeleton of a leafy fruit tree with highly accuracy.

3D Distinct Element Back Analysis Based on Rock Structure Modelling of SfM Point Clouds:The Case of the 2019 Pinglu Rockfall of Kaili,China

This paper introduces the use of point cloud processing for extracting 3D rock structure and the 3DEC-related reconstruction of slope failure,based on a case study of the 2019 Pinglu rockfall.The basic processing procedure involves:(1)computing the point normal for HSV-rendering of point cloud;(2)automatically clustering the discontinuity sets;(3)extracting the set-based point clouds;(4)estimating of set-based mean orientation,spacing,and persistence;(5)identifying the block-forming arrays of discontinuity sets for the assessment of stability.The effectiveness of our rock structure processing has been proved by 3D distinct element back analysis.The results show that Sf M modelling and rock structure computing provides enormous cost,time and safety incentives in standard engineering practice.

Hand Gesture Recognition Using Appearance Features Based on 3D Point Cloud

This paper presents a method for hand gesture recognition based on 3D point cloud. Digital image processing technology is used in this research. Based on the 3D point from depth camera, the system firstly extracts some raw data of the hand. After the data segmentation and preprocessing, three kinds of appearance features are extracted, including the number of stretched fingers, the angles between fingers and the gesture region’s area distribution feature. Based on these features, the system implements the identification of the gestures by using decision tree method. The results of experiment demonstrate that the proposed method is pretty efficient to recognize common gestures with a high accuracy.

Estimating underground mine ventilation friction factors from low density 3D data acquired by a moving LiDAR

Ventilation system analysis for underground mines has remained mostly unchanged since the Atkinson method was made popular by Mc Elroy in 1935. Data available to ventilation technicians and engineers is typically limited to the quantity of air moving through any given heading. Because computer-aided modelling, simulation, and ventilation system design tools have improved, it is now important to ensure that developed models have the most accurate information possible. This paper presents a new technique for estimating underground drift friction factors that works by processing 3 D point cloud data obtained by using a mobile Li DAR. Presented are field results that compare the proposed approach with previously published algorithms, as well as with manually acquired measurements.

Regression Method for Rail Fastener Tightness Based on Center-Line Projection Distance Feature and Neural Network

In the railway system,fasteners have the functions of damping,maintaining the track distance,and adjusting the track level.Therefore,routine maintenance and inspection of fasteners are important to ensure the safe operation of track lines.Currently,assessment methods for fastener tightness include manual observation,acoustic wave detection,and image detection.There are limitations such as low accuracy and efficiency,easy interference and misjudgment,and a lack of accurate,stable,and fast detection methods.Aiming at the small deformation characteristics and large elastic change of fasteners from full loosening to full tightening,this study proposes high-precision surface-structured light technology for fastener detection and fastener deformation feature extraction based on the center-line projection distance and a fastener tightness regression method based on neural networks.First,the method uses a 3D camera to obtain a fastener point cloud and then segments the elastic rod area based on the iterative closest point algorithm registration.Principal component analysis is used to calculate the normal vector of the segmented elastic rod surface and extract the point on the centerline of the elastic rod.The point is projected onto the upper surface of the bolt to calculate the projection distance.Subsequently,the mapping relationship between the projection distance sequence and fastener tightness is established,and the influence of each parameter on the fastener tightness prediction is analyzed.Finally,by setting up a fastener detection scene in the track experimental base,collecting data,and completing the algorithm verification,the results showed that the deviation between the fastener tightness regression value obtained after the algorithm processing and the actual measured value RMSE was 0.2196 mm,which significantly improved the effect compared with other tightness detection methods,and realized an effective fastener tightness regression.

6DOF pose estimation of a 3D rigid object based on edge-enhanced point pair features

The point pair feature(PPF)is widely used for 6D pose estimation.In this paper,we propose an efficient 6D pose estimation method based on the PPF framework.We introduce a well-targeted down-sampling strategy that focuses on edge areas for efficient feature extraction for complex geometry.A pose hypothesis validation approach is proposed to resolve ambiguity due to symmetry by calculating the edge matching degree.We perform evaluations on two challenging datasets and one real-world collected dataset,demonstrating the superiority of our method for pose estimation for geometrically complex,occluded,symmetrical objects.We further validate our method by applying it to simulated punctures.

High-throughput analysis of maize azimuth and spacing from Lidar data

Efficient leaf azimuth angles and plant spacing are crucial for enhancing light interception efficiency in maize,thereby increasing yield per unit area.Traditional methods for measuring these traits are labor-intensive and prone to error.This study aimed to develop an accurate and efficient method for determining leaf azimuth angles and plant spacing in maize to improve understanding of field competition and support breeding programs.Utilizing light detection and ranging(Lidar)technology,3D point cloud data of maize plants were collected,enabling effective 3D morphological reconstruction through multi-frame stitching.Principal component analysis(PCA)was employed to determine the leaf azimuth angles of individual maize plants.Additionally,a method based on point density analysis was developed to identify the central axis position of single maize plants.Specifically,point density in the neighborhood of each point in the maize point cloud was calculated,with the central axis determined along the direction of highest point density.The integration of PCA-based leaf azimuth detection and point density analysis provided a robust framework for accurately determining leaf azimuth angles and plant spacing.In the detection of leaf azimuth angles,this method achieved an R2 of 0.87 and an RMSE of 5.19°.For plant spacing detection,the R2 was 0.83 and the RMSE was 0.08 m.This approach facilitates parameterized modeling of field competition,significantly enhancing the efficiency of breeding programs by providing detailed and precise phenotypic data.Despite the high accuracy demonstrated by the proposed methods,further investigation is needed to evaluate their effectiveness under varying environmental conditions and across different maize varieties.Additionally,challenges related to partial occlusions and complex canopy structures may impact the accuracy of point cloud data analysis,necessitating further refinement of the algorithms.

Indoor 3D Reconstruction Using Camera, IMU and Ultrasonic Sensors

The recent advances in sensing and display technologies have been transforming our living environments drastically. In this paper, a new technique is introduced to accurately reconstruct indoor environments in three-dimensions using a mobile platform. The system incorporates 4 ultrasonic sensors scanner system, an HD web camera as well as an inertial measurement unit (IMU). The whole platform is mountable on mobile facilities, such as a wheelchair. The proposed mapping approach took advantage of the precision of the 3D point clouds produced by the ultrasonic sensors system despite their scarcity to help build a more definite 3D scene. Using a robust iterative algorithm, it combined the structure from motion generated 3D point clouds with the ultrasonic sensors and IMU generated 3D point clouds to derive a much more precise point cloud using the depth measurements from the ultrasonic sensors. Because of their ability to recognize features of objects in the targeted scene, the ultrasonic generated point clouds performed feature extraction on the consecutive point cloud to ensure a perfect alignment. The range measured by ultrasonic sensors contributed to the depth correction of the generated 3D images (the 3D scenes). Experiments revealed that the system generated not only dense but precise 3D maps of the environments. The results showed that the designed 3D modeling platform is able to help in assistive living environment for self-navigation, obstacle alert, and other driving assisting tasks.

Cicada(Magicicada)Tree Damage Detection Based on UAV Spectral and 3D Data

The periodical cicadas appear in regions of the United States in intervals of 13 or 17 years. During these intervals, deciduous trees are often impacted by the small cuts and eggs they lay in the outer branches which soon die off. Because this is such an infrequent occurrence and it is?so difficult to assess the damage across large forested areas, there is little information about the extent of this impact. The use of remote sensing techniques has been proven to be useful in forest health management to monitor large areas. In addition, the use of Unmanned Aerial Vehicles (UAVs) has become a valuable tool for analysis. In this study,?we evaluated the impact of the periodical cicada occurrence on a mixed hardwood forest using UAV imagery.?The goal was to evaluate the potential of this technology as a tool for forest health monitoring. We classified the cicada impact using two Maximum Likelihood classifications, one using only the high resolution spectral derived from leaf-on imagery (MLC 1), and in the second we included the Canopy Height Model (CHM)—derived from?leaf-on Digital Surface Model (DSM) and leaf-off Digital Terrain Model (DTM)—information in the classification process (MLC 2). We evaluated the damage percentage in relation to the total forest area in 15 circular plots and observed a range from 1.03%?-22.23% for MLC 1, and 0.02%?-?10.99% for MLC 2. The accuracy of the classification was 0.35 and 0.86, for MLC 1 and MLC 2, based on the kappa index. The results allow us to highlight the importance of combining spectral and 3D information to evaluate forest health features. We believe this approach can be applied in many forest monitoring objectives in order to?detect disease or pest impacts.

Human-robot shared control system based on 3D point cloud and teleoperation

Owing to the constraints of unstructured environments,it is difficult to ensure safe,accurate,and smooth completion of tasks using autonomous robots.Moreover,for small-batch and customized tasks,autonomous operation requires path planning for each task,thus reducing efficiency.We propose a human-robot shared control system based on a 3D point cloud and teleoperation for a robot to assist human operators in the performance of dangerous and cumbersome tasks.The system leverages the operator’s skills and experience to deal with emergencies and perform online error correction.In this framework,a depth camera acquires the 3D point cloud of the target object to automatically adjust the end-effector orientation.The operator controls the manipulator trajectory through a teleoperation device.The force exerted by the manipulator on the object is automatically adjusted by the robot,thus reducing the workload for the operator and improving the efficiency of task execution.In addition,hybrid force/motion control is used to decouple teleoperation from force control to ensure that force and position regulation will not interfere with each other.The proposed framework was validated using the ELITE robot to perform a force control scanning task.

GridNet:efficiently learning deep hierarchical representation for 3D point cloud understanding

In this paper,we propose a novel and effective approach,namely GridNet,to hierarchically learn deep representation of 3D point clouds.It incorporates the ability of regular holistic description and fast data processing in a single framework,which is able to abstract powerful features progressively in an efficient way.Moreover,to capture more accurate internal geometry attributes,anchors are inferred within local neighborhoods,in contrast to the fixed or the sampled ones used in existing methods,and the learned features are thus more representative and discriminative to local point distribution.GridNet delivers very competitive results compared with the state of the art methods in both the object classification and segmentation tasks.

Point cloud completion via structured feature maps using a feedback network

In this paper,we tackle the challenging problem of point cloud completion from the perspective of feature learning.Our key observation is that to recover the underlying structures as well as surface details,given partial input,a fundamental component is a good feature representation that can capture both global structure and local geometric details.We accordingly first propose FSNet,a feature structuring module that can adaptively aggregate point-wise features into a 2D structured feature map by learning multiple latent patterns from local regions.We then integrate FSNet into a coarse-to-fine pipeline for point cloud completion.Specifically,a 2D convolutional neural network is adopted to decode feature maps from FSNet into a coarse and complete point cloud.Next,a point cloud upsampling network is used to generate a dense point cloud from the partial input and the coarse intermediate output.To efficiently exploit local structures and enhance point distribution uniformity,we propose IFNet,a point upsampling module with a self-correction mechanism that can progressively refine details of the generated dense point cloud.We have conducted qualitative and quantitative experiments on ShapeNet,MVP,and KITTI datasets,which demonstrate that our method outperforms stateof-the-art point cloud completion approaches.

Automated Rock Detection and Shape Analysis from Mars Rover Imagery and 3D Point Cloud Data

A new object-oriented method has been developed for the extraction of Mars rocks from Mars rover data. It is based on a combination of Mars rover imagery and 3D point cloud data. First, Navcam or Pancam images taken by the Mars rovers are segmented into homogeneous objects with a mean-shift algorithm. Then, the objects in the segmented images are classified into small rock candidates, rock shadows, and large objects. Rock shadows and large objects are considered as the regions within which large rocks may exist. In these regions, large rock candidates are extracted through ground-plane fitting with the 3D point cloud data. Small and large rock candidates are combined and postprocessed to obtain the final rock extraction results. The shape properties of the rocks （angularity, circularity, width, height, and width-height ratio） have been calculated for subsequent ~eological studies.