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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...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7435716/ https://www.ncbi.nlm.nih.gov/pubmed/32707854 http://dx.doi.org/10.3390/s20154076 |
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author | Lee, Jisang Yoo, Suhong Hong, Seunghwan Farkoushi, Mohammad Gholami Bae, Junsu Park, Ilsuk Sohn, Hong-Gyoo |
author_facet | Lee, Jisang Yoo, Suhong Hong, Seunghwan Farkoushi, Mohammad Gholami Bae, Junsu Park, Ilsuk Sohn, Hong-Gyoo |
author_sort | Lee, Jisang |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-7435716 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-74357162020-08-28 Automated Algorithm for Removing Clutter Objects in MMS Point Cloud for 3D Road Mapping Lee, Jisang Yoo, Suhong Hong, Seunghwan Farkoushi, Mohammad Gholami Bae, Junsu Park, Ilsuk Sohn, Hong-Gyoo Sensors (Basel) Article 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. MDPI 2020-07-22 /pmc/articles/PMC7435716/ /pubmed/32707854 http://dx.doi.org/10.3390/s20154076 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Lee, Jisang Yoo, Suhong Hong, Seunghwan Farkoushi, Mohammad Gholami Bae, Junsu Park, Ilsuk Sohn, Hong-Gyoo Automated Algorithm for Removing Clutter Objects in MMS Point Cloud for 3D Road Mapping |
title | Automated Algorithm for Removing Clutter Objects in MMS Point Cloud for 3D Road Mapping |
title_full | Automated Algorithm for Removing Clutter Objects in MMS Point Cloud for 3D Road Mapping |
title_fullStr | Automated Algorithm for Removing Clutter Objects in MMS Point Cloud for 3D Road Mapping |
title_full_unstemmed | Automated Algorithm for Removing Clutter Objects in MMS Point Cloud for 3D Road Mapping |
title_short | Automated Algorithm for Removing Clutter Objects in MMS Point Cloud for 3D Road Mapping |
title_sort | automated algorithm for removing clutter objects in mms point cloud for 3d road mapping |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7435716/ https://www.ncbi.nlm.nih.gov/pubmed/32707854 http://dx.doi.org/10.3390/s20154076 |
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