Semantic labelling of pole-like street furniture in mobile laser scanning data : abstract

Pole-like road furniture interpretation in Mobile Laser

Scanning data

FASHUAI LI

Supervisor: Sander Oude Elberink

Promotor: George Vosselman

INTRODUCTION

HOW TO CLASSIFY THIS ROAD FURNITURE? MULTI-CLASSES

The interpreted road furniture (Orange: Street signs, Yellow: Street lights, Cyan: Traffic lights, Green: vertical poles, Blue:

Horizontal poles)

Traffic light?

Street light?

Street sign?

TO SEPARATE ATTACHMENTS

POLE-LIKE ROAD FURNITUE DECMOPOSITION

Road furniture point cloud 2D point density based method RANSAC line fitting method Slice cutting based method

Remove poles and connected components

analysis Precognition

Pole-extraction optimization

Street light Traffic sign Street sign

Traffic information sign Traffic light

POLE-LIKE ROAD FURNITURE INTERPRETATION

 Relative position: top, middle, bottom

 Relative height: from the bottom of the connected pole  Geometric structure: linear, planar, scattered

 Ratio of high reflectance

 Relative angle: the normal of attachments and principal direction of pole  Size: the area

 Ratio of height to length

TO DISTINGUISH DIFFERENT ATTACHMENTS

 Street lights connected to a vertical pole Top (normally)

Relative height

POLE-LIKE ROAD FURNITURE INTERPRETATION

 Traffic signs connected to a vertical pole Planar

Relative angle -> perpendicular

Size ->small

Ratio of height to length -> close to 1

TEMPLATES

 Street signs connected to a vertical pole Planar or linear

Relative angle -> perpendicular

Size -> small

Ratio of height to length ->small

TEMPLATES

 Traffic information signs connected to a vertical pole Planar

Relative angle -> perpendicular

Size -> large

Ratio of height to length

TEMPLATES

 Traffic lights connected to a vertical pole

Scattered

Relative height

TEMPLATES

 Traffic lights connected to a horizontal pole

Connected to horizontal poles

Scattered

TEMPLATES

 Street signs connected to a horizontal pole Planar or linear

Relative angle -> perpendicular

Size -> small

Ratio of height to length ->small

TEMPLATES

 Traffic information signs connected to a horizontal pole Planar

Relative angle -> perpendicular

Size -> large

Ratio of height to length

TEMPLATES

The evaluation of road furniture interpretation in Enschede dataset

EVALUATION

Visual interpretation FP (%) P S1 S2 T1 T2 T3 Other Total P 111 0 0 0 0 0 0 111 0 S1 1 50 0 3 5 1 5 65 23.1 S2 0 0 7 5 0 0 0 12 41.7 T1 0 1 5 27 1 1 1 36 25.0 T2 0 0 1 0 3 0 0 4 25.0 T3 0 0 0 4 0 16 1 21 23.8 M 7 2 4 14 2 13

EXPERIMENTAL RESULT

EXPERIMENTAL RESULT

CONCLUSION AND FUTURE WORK

Conclusion

 Fast and better interpretation (more detailed)

 Templates not generic enough (more classes, more templates need to be defined)

Future work

SWIRLING OF THE RESULT

Thank you for your attention!

Questions?