Find in Library

Three-dimensional point clouds have been utilized and studied for the classification of objects at the environmental level. While most existing studies, such as those in the field of computer vision, have detected object type from the perspective of sensors, this study developed a specialized strategy for object classification using LiDAR data points on the surface of the object. We propose a method for generating a spherically stratified point projection (<i>sP</i><inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mn>2</mn></msup></semantics></math></inline-formula>) feature image that can be applied to existing image-classification networks by performing pointwise classification based on a 3D point cloud using only LiDAR sensors data. The <i>sP</i><inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mn>2</mn></msup></semantics></math></inline-formula>’s main engine performs image generation through spherical stratification, evidence collection, and channel integration. Spherical stratification categorizes neighboring points into three layers according to distance ranges. Evidence collection calculates the occupancy probability based on Bayes’ rule to project 3D points onto a two-dimensional surface corresponding to each stratified layer. Channel integration generates <i>sP</i><inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mn>2</mn></msup></semantics></math></inline-formula> RGB images with three evidence values representing short, medium, and long distances. Finally, the <i>sP</i><inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mn>2</mn></msup></semantics></math></inline-formula> images are used as a trainable source for classifying the points into predefined semantic labels. Experimental results indicated the effectiveness of the proposed <i>sP</i><inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mn>2</mn></msup></semantics></math></inline-formula> in classifying feature images generated using the LeNet architecture.