Advertisement

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)

Abstract

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.

Notes

Acknowledgement

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

References

  1. 1.
    Asplund, T., Luengo Hendriks, C.L., Thurley, M.J., Strand, R.: Mathematical Morphology on irregularly sampled signals. In: Chen, C.-S., Lu, J., Ma, K.-K. (eds.) ACCV 2016. LNCS, vol. 10117, pp. 506–520. Springer, Cham (2017).  https://doi.org/10.1007/978-3-319-54427-4_37CrossRefGoogle Scholar
  2. 2.
    Asplund, T., Luengo Hendriks, C.L., Thurley, M.J., Strand, R.: Mathematical morphology on irregularly sampled data in one dimension. In: Mathematical Morphology-Theory and Applications, vol. 2, no. 1, pp. 1–24 (2017)CrossRefGoogle Scholar
  3. 3.
    Calderon, S., Boubekeur, T.: Point morphology. ACM Trans. Graph. (TOG) 33(4), 45 (2014)CrossRefGoogle Scholar
  4. 4.
    Geiger, A., Lenz, P., Urtasun, R.: Are we ready for autonomous driving? The KITTI vision benchmark suite. In: Conference on Computer Vision and Pattern Recognition (CVPR) (2012)Google Scholar
  5. 5.
    Morard, V., Decencière, E., Dokladal, P.: Geodesic attributes thinnings and thickenings. In: Soille, P., Pesaresi, M., Ouzounis, G.K. (eds.) ISMM 2011. LNCS, vol. 6671, pp. 200–211. Springer, Heidelberg (2011).  https://doi.org/10.1007/978-3-642-21569-8_18CrossRefzbMATHGoogle Scholar
  6. 6.
    Munoz, D., Bagnell, J.A., Vandapel, N., Hebert, M.: Contextual classification with functional Max-Margin Markov networks. In: IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2009, pp. 975–982. IEEE (2009)Google Scholar
  7. 7.
    Najman, L., Cousty, J.: A graph-based mathematical morphology reader. Pattern Recogn. Lett. 47, 3–17 (2014)CrossRefGoogle Scholar
  8. 8.
    Rivest, J.F., Soille, P., Beucher, S.: Morphological gradients. J. Electron. Imaging 2(4), 326–337 (1993)CrossRefGoogle Scholar
  9. 9.
    Serna, A., Marcotegui, B.: Detection, segmentation and classification of 3D urban objects using mathematical morphology and supervised learning. ISPRS J. Photogram. Remote Sens. 93, 243–255 (2014)CrossRefGoogle Scholar
  10. 10.
    Serna, A., Marcotegui, B., Goulette, F., Deschaud, J.E.: Paris-rue-Madame database: a 3D mobile laser scanner dataset for benchmarking urban detection, segmentation and classification methods. In: 4th International Conference on Pattern Recognition, Applications and Methods ICPRAM 2014 (2014)Google Scholar
  11. 11.
    Serna, A., Marcotegui, B., Hernández, J.: Segmentation of façades from urban 3D point clouds using geometrical and morphological attribute-based operators. ISPRS Int. J. Geo-Inf. 5(1), 6 (2016)CrossRefGoogle Scholar
  12. 12.
    Serra, J.: Image Analysis and Mathematical Morphology. Academic Press Inc., Orlando (1983)Google Scholar
  13. 13.
    Sibson, R.: A brief description of natural neighbour interpolation. In: Barnett, V. (ed.) Interpreting Multivariate Data (1981)Google Scholar
  14. 14.
    Vosselman, G., Maas, H.G.: Airborne and Terrestrial Laser Scanning. CRC, Boca Raton (2010)Google Scholar

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

Personalised recommendations