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Semantic enrichment of octree structured point clouds for multi‐story 3D pathfinding

机译：用于多层3D路径的多层结构点云的语义富集

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Abstract >3D indoor navigation in multi‐story buildings and under changing environments is still difficult to perform. 3D models of buildings are commonly not available or outdated. 3D point clouds turned out to be a very practical way to capture 3D interior spaces and provide a notion of an empty space. Therefore, pathfinding in point clouds is rapidly emerging. However, processing of raw point clouds can be very expensive, as these are semantically poor and unstructured data. In this article we present an innovative octree‐based approach for processing of 3D indoor point clouds for the purpose of multi‐story pathfinding. We semantically identify the construction elements, which are of importance for the indoor navigation of humans (i.e., floors, walls, stairs, and obstacles), and use these to delineate the available navigable space. To illustrate the usability of this approach, we applied it to real‐world data sets and computed paths considering user constraints. The structuring of the point cloud into an octree approximation improves the point cloud processing and provides a structure for the empty space of the point cloud. It is also helpful to compute paths sufficiently accurate in their consideration of the spatial complexity. The entire process is automatic and able to deal with a large number of multi‐story indoor environments. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract Type =“Main”XML：Lang =“en”> <标题类型=“main”>抽象</ title> > 3D在多层建筑物中的室内导航，在更改环境下仍然难以执行。 3D建筑模型通常不可用或过时。 3D点云成为一种非常实用的方法来捕获3D内部空间并提供空间的概念。因此，点云中的探测器正在迅速涌现。然而，原始点云的处理可能非常昂贵，因为这些是语义差和非结构化数据。在本文中，我们提出了一种创新的基于Octree的方法，用于处理3D室内点云，以便为多层路径划分。我们在语义上识别建筑元素，这对人类室内导航非常重要（即地板，墙壁，楼梯和障碍物），并使用这些来描绘可用的可通航空间。为了说明这种方法的可用性，我们将其应用于考虑用户约束的真实数据集和计算路径。点云到OctREE近似的结构改善了点云处理，并为点云的空间提供了一种结构。在考虑空间复杂性时，计算路径足够准确的路径也有助于。整个过程是自动的，能够处理大量的多层室内环境。</ p> </ abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-31674/'>《Transactions in GIS: TG》</a> <b style="margin: 0 2px;">|</b><span>2018年第1期</span><b style="margin: 0 2px;">|</b><span>共16页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Fichtner Florian W.&option=202" target="_blank" rel="nofollow">Fichtner Florian W.;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Diakité Abdoulaye A.&option=202" target="_blank" rel="nofollow">Diakité Abdoulaye A.;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Zlatanova Sisi&option=202" target="_blank" rel="nofollow">Zlatanova Sisi;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Vo?te Robert&option=202" target="_blank" rel="nofollow">Vo?te Robert;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>Faculteit Bouwkunde Technische Universiteit DelftDelft The Netherlands;</p> <p>Faculteit Bouwkunde Technische Universiteit DelftDelft The Netherlands;</p> <p>Faculteit Bouwkunde Technische Universiteit DelftDelft The Netherlands;</p> <p>Faculteit Bouwkunde Technische Universiteit DelftDelft The Netherlands;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/4940.html" title="测绘数据库与信息系统">测绘数据库与信息系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> </p> </li> <li> <span class="lefttit">入库时间</span> <span>2022-08-20 07:37:29</span> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> <li class="active" >外文文献</li> <li >中文文献</li> <li >专利</li> </ul> </div> <div class="similarity_details"> <ul > <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/journal-foreign-detail/0704024965780.html">Semantic enrichment of octree structured point clouds for multi‐story 3D pathfinding</a> <b>[J]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Fichtner Florian W.&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Fichtner Florian W.,</a> <a 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