A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data

Eyüp Eymen ERUYAR; Metehan YILMAZ; Berat YILMAZ; Onur AKBULUT; Kaya TURGUT; Burak KALECİ

doi:https://doi.org/10.34248/bsengineering.735705

Makale detayları

A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data

Yazarlar:

Eyüp Eymen ERUYAR | Metehan YILMAZ | Berat YILMAZ | Onur AKBULUT | Kaya TURGUT | Burak KALECİ

Yayıncı:

Uğur ŞEN

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Black Sea Journal of Engineering and Science 2020 Vol.3 Issue 4, pp.128-137

Belge Tipi:

Makale

Yayın Tarihi:

9/2020

Belge Dili:

İngilizce

Document ID (Org No.):

2000895194

Sıklık:

Üç Aylık

eISSN:

2619-8991

DOI:

https://doi.org/10.34248/bsengineering.735705

Özet:

 

In recent years, point cloud data generated with RGB-D cameras, 3D lasers, and 3D LiDARs have been employed frequently in robotic applications. In indoor environments, RGB-D cameras, which have short-range and can only describe the vicinity of the robots, generally are opted due to their low cost. On the other hand, 3D lasers and LiDARs can capture long-range measurements and generally are used in outdoor applications. In this study, we deal with the segmentation of indoor planar surfaces such as wall, floor, and ceiling via point cloud data. The segmentation methods, which are situated in Point Cloud Library (PCL) were executed with 3D laser point cloud data. The experiments were conducted to evaluate the performance of these methods with the publicly available Fukuoka indoor laser dataset, which has point clouds with different noise levels. The test results were compared in terms of segmentation accuracy and the time elapsed for segmentation. Besides, the general characteristics of each method were discussed. In this way, we revealed the positive and negative aspects of these methods for researchers that plan to apply them to 3D laser point cloud data.

Makale detayları

A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data

Yazarlar: Eyüp Eymen ERUYAR | Metehan YILMAZ | Berat YILMAZ | Onur AKBULUT | Kaya TURGUT | Burak KALECİ

Yayıncı: Uğur ŞEN

Ana Başlıklar: Uygulamalı fizik

Dergi: Black Sea Journal of Engineering and Science 2020 Vol.3 Issue 4, pp.128-137

Belge Tipi: Makale

Yayın Tarihi: 9/2020

Belge Dili: İngilizce

Document ID (Org No.): 2000895194

Sıklık: Üç Aylık

eISSN: 2619-8991

DOI: https://doi.org/10.34248/bsengineering.735705

Sayı

Yazarlar:

Eyüp Eymen ERUYAR | Metehan YILMAZ | Berat YILMAZ | Onur AKBULUT | Kaya TURGUT | Burak KALECİ

Yayıncı:

Uğur ŞEN

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Black Sea Journal of Engineering and Science 2020 Vol.3 Issue 4, pp.128-137

Belge Tipi:

Makale

Yayın Tarihi:

9/2020

Belge Dili:

İngilizce

Document ID (Org No.):

2000895194

Sıklık:

Üç Aylık

eISSN:

2619-8991

DOI:

https://doi.org/10.34248/bsengineering.735705