Semi-automatic LiDAR point cloud denoising using a connected-component labelling method

DOI: https://doi.org/10.33542/GC2019-2-08

Autor: Ján Kaňuk, Jozef Šupinský, Ján Šašak, Jaroslav Hofierka, Yongbo Wang, Qiuzhao Zhang, Vladimír Sedlák, Katarína Onačillová, Michal Gallay

Rok vydania: 2019

Vydavateľ: Univerzita Pavla Jozefa Šafárika v Košiciach, Prírodovedecká fakulta, Ústav geografie

Dostupné od: 20.12.2019

URL časopisu: https://www.gcass.science.upjs.sk/ 

Abstrakt: The Smart City concept requires new, fast methods for collection of 3-D data representing features of urban landscape. Laser scanning technology (LiDAR - Light Detection and Ranging) enables such approach producing dense 3-D point clouds of millions of points, which, however, contain noise. Therefore, we developed a new approach allowing for a semi-automatic elimination of data noise resulting from motion of objects within the scanned scene such as persons. We used a connected-component labelling method to filter out the noise points from terrestrial laser scanning point clouds. Our approach was based on a step-by-step object classification with a proper parameterisation. In the first step, all points located close to the predicted terrain were selected. In the second step, the points representing the terrain and floor were classified using the surface filter tool implemented in the RiScan Pro software by RIEGL. The rest of points were classified using point cloud clustering via the connected-component labelling method implemented in the CloudCompare software. In the final step, the operator manually decides whether the point cluster represents the noise. The method was applied to the Cathedral of Saint Elizabeth, a sacral object located in the historical centre of the city of Košice in Slovakia during normal operating hours. We managed to capture approximately 80% of the data noise in total. The method provides a better flexibility in surveying overcrowded city locations using the laser scanning technology.

Kľúčové slová: point cloud filtration, terrestrial laser scanning, LiDAR, noise elimination, connected-component labelling, Smart City

Pdf na stiahnutie