Low-complexity adaptive radius outlier removal filter based on PCA for lidar point cloud denoising

被引:27
作者
Duan, Yao [1 ]
Yang, Chuanchuan [1 ]
Li, Hongbin [1 ]
机构
[1] Peking Univ, State Key Lab Adv Opt Commun Syst & Networks, Beijing 100871, Peoples R China
关键词
Clustering algorithms;
D O I
10.1364/AO.416341
中图分类号
O43 [光学];
学科分类号
070207 ; 0803 ;
摘要
In autonomous driving, cars rely on light detection and ranging (lidar) to navigate the surroundings, but interference from the environment makes it difficult to retrieve useful information. To address this problem, this paper develops a noise reduction method to filter lidar point clouds (i.e., an adaptive radius outlier removal filter based on principal component analysis). We believe this method can outperform existing clustering algorithms when applied to point cloud images captured at a large distance from the lidar. Compared to traditional methods, the proposed method has higher precision and recall with an F-score up to 0.876 and complexity reduced by at least 50%. (C) 2021 Optical Society of America
引用
收藏
页码:E1 / E7
页数:7
相关论文
共 39 条
[11]  
Feng J., 2020, IEEE PHOTON J, V12, P1
[12]  
Grund C. J., 1997, ADV ATMOSPHERIC REMO, P3
[13]   Single-photon detectors for optical quantum information applications [J].
Hadfield, Robert H. .
NATURE PHOTONICS, 2009, 3 (12) :696-705
[14]   Full waveform hyperspectral LiDAR for terrestrial laser scanning [J].
Hakala, Teemu ;
Suomalainen, Juha ;
Kaasalainen, Sanna ;
Chen, Yuwei .
OPTICS EXPRESS, 2012, 20 (07) :7119-7127
[15]   Fast computation of absorption spectra for lidar data processing using principal component analysis [J].
Hayman, Matthew ;
Stillwell, Robert A. ;
Spuler, Scott M. .
OPTICS LETTERS, 2019, 44 (08) :1900-1903
[16]   Depth imaging denoising of photon-counting lidar [J].
Huang, Pengwei ;
He, Weiji ;
Gu, Guohua ;
Chen, Qian .
APPLIED OPTICS, 2019, 58 (16) :4390-4394
[17]  
Hui Z, 2019, Int. Arch. Photogrammetry, Remote Sens. Spatial Inf. Sci., VXLII-2/W13, P1021, DOI 10.5194/isprs-archives-XLII-2-W13-1021-2019
[18]   Archaeological application of airborne LiDAR to examine social changes in the Ceibal region of the Maya lowlands [J].
Inomata, Takeshi ;
Triadan, Daniela ;
Pinzon, Flory ;
Burham, Melissa ;
Luis Ranchos, Jose ;
Aoyama, Kazuo ;
Haraguchi, Tsuyoshi .
PLOS ONE, 2018, 13 (02)
[19]   An Effective Frequency-Spatial Filter Method to Restrain the Interferences for Active Sensors Gain and Phase Errors Calibration [J].
Jiang Jia-Jia ;
Wang Xian-Quan ;
Duan Fa-Jie .
IEEE SENSORS JOURNAL, 2016, 16 (21) :7713-7719
[20]   Fast computer generated hologram calculation with a mini look-up table incorporated with radial symmetric interpolation [J].
Jiao, Shuming ;
Zhuang, Zhaoyong ;
Zou, Wenbin .
OPTICS EXPRESS, 2017, 25 (01) :112-123