Mathematical Morphology on Irregularly Sampled Data Applied to Segmentation of 3D Point Clouds of Urban Scenes

  • Teo AsplundEmail author
  • Andrés Serna
  • Beatriz Marcotegui
  • Robin Strand
  • Cris L. Luengo Hendriks
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11564)


This paper proposes an extension of mathematical morphology on irregularly sampled signals to 3D point clouds. The proposed method is applied to the segmentation of urban scenes to show its applicability to the analysis of point cloud data. Applying the proposed operators has the desirable side-effect of homogenizing signals that are sampled heterogeneously. In experiments we show that the proposed segmentation algorithm yields good results on the Paris-rue-Madame database and is robust in terms of sampling density, i.e. yielding similar labelings for more sparse samplings of the same scene.



Teo Asplund was funded through grant 2014-5983 from the Swedish Research Council.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Teo Asplund
    • 1
    Email author
  • Andrés Serna
    • 2
  • Beatriz Marcotegui
    • 3
  • Robin Strand
    • 1
  • Cris L. Luengo Hendriks
    • 4
  1. 1.Centre for Image Analysis, Division of Visual Information and InteractionUppsala UniversityUppsalaSweden
  2. 2.Terra3DParisFrance
  3. 3.MINES ParisTech, PSL Research University, CMM - Centre for Mathematical MorphologyFontainebleauFrance
  4. 4.Flagship Biosciences Inc.WestminsterUSA

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