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...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-07-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/15/4076 |
| _version_ | 1797561646997045248 |
|---|---|
| author | Jisang Lee Suhong Yoo Seunghwan Hong Mohammad Gholami Farkoushi Junsu Bae Ilsuk Park Hong-Gyoo Sohn |
| author_facet | Jisang Lee Suhong Yoo Seunghwan Hong Mohammad Gholami Farkoushi Junsu Bae Ilsuk Park Hong-Gyoo Sohn |
| author_sort | Jisang Lee |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-03-10T18:17:52Z |
| format | Article |
| id | doaj.art-6291d01af67a475e99cc5fac11c0c4c5 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T18:17:52Z |
| publishDate | 2020-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-6291d01af67a475e99cc5fac11c0c4c52023-11-20T07:33:06ZengMDPI AGSensors1424-82202020-07-012015407610.3390/s20154076Automated Algorithm for Removing Clutter Objects in MMS Point Cloud for 3D Road MappingJisang Lee0Suhong Yoo1Seunghwan Hong2Mohammad Gholami Farkoushi3Junsu Bae4Ilsuk Park5Hong-Gyoo Sohn6School of Civil and Environmental Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, KoreaSchool of Civil and Environmental Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, KoreaStryx co., 50-1 Yonsei-ro, Seodaemun-gu, Seoul 03722, KoreaSchool of Civil and Environmental Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, KoreaSchool of Civil and Environmental Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, KoreaStryx co., 50-1 Yonsei-ro, Seodaemun-gu, Seoul 03722, KoreaSchool of Civil and Environmental Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, KoreaRoad 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.https://www.mdpi.com/1424-8220/20/15/4076mobile mapping systeminstance segmentationpoint cloud removalHD mapclutter objects |
| spellingShingle | Jisang Lee Suhong Yoo Seunghwan Hong Mohammad Gholami Farkoushi Junsu Bae Ilsuk Park Hong-Gyoo Sohn Automated Algorithm for Removing Clutter Objects in MMS Point Cloud for 3D Road Mapping Sensors mobile mapping system instance segmentation point cloud removal HD map clutter objects |
| 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 | mobile mapping system instance segmentation point cloud removal HD map clutter objects |
| url | https://www.mdpi.com/1424-8220/20/15/4076 |
| work_keys_str_mv | AT jisanglee automatedalgorithmforremovingclutterobjectsinmmspointcloudfor3droadmapping AT suhongyoo automatedalgorithmforremovingclutterobjectsinmmspointcloudfor3droadmapping AT seunghwanhong automatedalgorithmforremovingclutterobjectsinmmspointcloudfor3droadmapping AT mohammadgholamifarkoushi automatedalgorithmforremovingclutterobjectsinmmspointcloudfor3droadmapping AT junsubae automatedalgorithmforremovingclutterobjectsinmmspointcloudfor3droadmapping AT ilsukpark automatedalgorithmforremovingclutterobjectsinmmspointcloudfor3droadmapping AT honggyoosohn automatedalgorithmforremovingclutterobjectsinmmspointcloudfor3droadmapping |