Automated Algorithm for Removing Clutter Objects in Mms Point Cloud for 3D Road Mapping

Road information high definition maps (HD map) contain information about the facilities around the roads and are often constructed through a mobile mapping system (MMS). Although constructing an HD map is essential for road maintenance and the application of autonomous driving in the future, it is p...

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Published inSensors (Basel, Switzerland) Vol. 20; no. 15; p. 4076
Main Authors Lee, Jisang, Yoo, Suhong, Hong, Seunghwan, Farkoushi, Mohammad Gholami, Bae, Junsu, Park, Ilsuk, Sohn, Hong-Gyoo
Format Journal Article
LanguageEnglish
Published Switzerland MDPI 22.07.2020
MDPI AG
Subjects
clutter objects
HD map
instance segmentation
mobile mapping system
point cloud removal
instance segmentation
mobile mapping system
HD map
clutter objects
point cloud removal
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Summary:Road information high definition maps (HD map) contain information about the facilities around the roads and are often constructed through a mobile mapping system (MMS). Although constructing an HD map is essential for road maintenance and the application of autonomous driving in the future, it is problematic to acquire the data of objects other than the facilities in an unstructured form while operating the MMS. In this study, the researchers define this object data as clutter objects and present a method of automatic removal using characteristics of the MMS and image segmentation techniques. By applying the method to 10 KITTI (Karlsruhe Institute of Technology and Toyota Technological Institute at Chicago) datasets, clutter objects were removed with an average overall accuracy of 91% with 0% (0.448%) error of commission for the complete point cloud map.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s20154076