| Summary: | Urban scene-level 3D point cloud labeling is a very laborious and expensive task compared to images. Conversely however, image processing techniques, deep learning or otherwise are more established and mature. Thus, in a multi-source data environment, the labeling of a point cloud scene via an automated image process as an initial step, followed by a manual human verification process is an effective way to save man hours and cost. With the above as the goal, this study presents a simple but robust spatio-spectral feature representation approach. In this approach, a class-aware band selection and reduction (CBSR) technique is developed for optimal hyperspectral feature representation. A double-branched convolutional Gaussian Bernoulli deep belief network (CGBDBN) is then used for hierarchical spatial feature extraction from LiDAR-derived data and the CBSR data. Using stacked ensemble learning, spatio-spectral features are generated from the two feature streams via a fusion rule and then classified — the results of which are used in labeling a raw 3D LiDAR point cloud through projection. To evaluate this study, extensive experiments were conducted on the IEEE 2018 Houston dataset — the only publicly available dataset with both hyperspectral image (HSI) and 3D point cloud covering the same area — for urban scene classification. The results indicate that the developed CBSR attained comparatively competitive results with state-of-the-art approaches, thus making it a robust spectral feature representation technique. Also, the weight-sharing property, probabilistic modeling, and hierarchical nature of CGBDBN gives our approach the ability to capture high-level contextual features. Furthermore, compared to the spatial- or spectral-only features, the generated spatio-spectral features are more discriminative and significantly aided in improving the proposed model’s efficacy. Overall, the proposed approach, based on the evaluation metrics, is a robust and effective approach for both coarse- and fine-grained raw LiDAR point cloud labeling tasks.
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