Automated Super-Voxel Based Features Classification of Urban Environments by Integrating 3D Point Cloud and Image Content

摘要

In this paper we present a novel street scene semantic recognition framework, which takes advantage of 3D point cloud captured by a high definition LiDAR laser scanner. An important problem in object recognition is the need for sufficient labeled training data to learn robust classifiers. We show how to significantly reduce the need for manually labeled training data by reduction of scene complexity using nonsupervised ground and building segmentation. Our system first automatically segments grounds point cloud. Then, using binary range image processing building facades will be detected. Remained point cloud will grouped into voxels which are then transformed to super voxels. Local 3D features extracted from super voxels are classified by trained boosted decision trees and labeled with semantic classes e.g. tree, pedestrian, car. Given labeled 3D points cloud and 2D image with known viewing camera pose, the proposed association module aligned collections of 3D points to the groups of 2D image pixel to parsing 2D cubic images.