Polylidar3D -- Fast Polygon Extraction from 3D Data

• URL: http://arxiv.org/abs/2007.12065v1
• Date: Thu, 23 Jul 2020 15:22:43 GMT
• Title: Polylidar3D -- Fast Polygon Extraction from 3D Data
• Authors: Jeremy Castagno, Ella Atkins
• Abstract summary: Flat surfaces captured by 3D point cloud processing are often used for localization, and modeling. We demonstrate autonomous multi-th and speed segmentation for rooftop mapping, road surface detection, and RGBD cameras for wall detection. Results consistently show excellent accuracy.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Flat surfaces captured by 3D point clouds are often used for localization, mapping, and modeling. Dense point cloud processing has high computation and memory costs making low-dimensional representations of flat surfaces such as polygons desirable. We present Polylidar3D, a non-convex polygon extraction algorithm which takes as input unorganized 3D point clouds (e.g., LiDAR data), organized point clouds (e.g., range images), or user-provided meshes. Non-convex polygons represent flat surfaces in an environment with interior cutouts representing obstacles or holes. The Polylidar3D front-end transforms input data into a half-edge triangular mesh. This representation provides a common level of input data abstraction for subsequent back-end processing. The Polylidar3D back-end is composed of four core algorithms: mesh smoothing, dominant plane normal estimation, planar segment extraction, and finally polygon extraction. Polylidar3D is shown to be quite fast, making use of CPU multi-threading and GPU acceleration when available. We demonstrate Polylidar3D's versatility and speed with real-world datasets including aerial LiDAR point clouds for rooftop mapping, autonomous driving LiDAR point clouds for road surface detection, and RGBD cameras for indoor floor/wall detection. We also evaluate Polylidar3D on a challenging planar segmentation benchmark dataset. Results consistently show excellent speed and accuracy.

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