TY - GEN
T1 - Fast point cloud segmentation based on flood-fill algorithm
AU - Chu, Phuong Minh
AU - Cho, Seoungjae
AU - Park, Yong Woon
AU - Cho, Kyungeun
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/7
Y1 - 2017/12/7
N2 - With the aim of providing a fast and effective segmentation method based on the flood-fill algorithm, in this study, we propose a new approach to segment a 3D point cloud gained by a 3D multi-channel laser range sensor into different objects. First, we divide the point cloud into two groups: ground and nonground points. Next, we segment clusters in each scanline dataset from the group of nonground points. Each scanline cluster is joined with other scanline clusters using the flood-fill algorithm. In this manner, each group of scanline clusters represents an object in the 3D environment. Finally, we obtain each object separately. Experiments show that our method has the ability to segment objects accurately and in real time.
AB - With the aim of providing a fast and effective segmentation method based on the flood-fill algorithm, in this study, we propose a new approach to segment a 3D point cloud gained by a 3D multi-channel laser range sensor into different objects. First, we divide the point cloud into two groups: ground and nonground points. Next, we segment clusters in each scanline dataset from the group of nonground points. Each scanline cluster is joined with other scanline clusters using the flood-fill algorithm. In this manner, each group of scanline clusters represents an object in the 3D environment. Finally, we obtain each object separately. Experiments show that our method has the ability to segment objects accurately and in real time.
UR - http://www.scopus.com/inward/record.url?scp=85042354612&partnerID=8YFLogxK
U2 - 10.1109/MFI.2017.8170397
DO - 10.1109/MFI.2017.8170397
M3 - Conference contribution
AN - SCOPUS:85042354612
T3 - IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
SP - 656
EP - 659
BT - MFI 2017 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017
Y2 - 16 November 2017 through 18 November 2017
ER -