计算机科学
点云
分类器(UML)
一元运算
分割
人工智能
概率逻辑
成对比较
随机森林
激光扫描
条件随机场
模式识别(心理学)
计算机视觉
数据挖掘
激光器
数学
物理
光学
组合数学
作者
Fashuai Li,Zhenming Zhou,Jianhua Xiao,Ruizhi Chen,Matti Lehtomäki,Sander Oude Elberink,George Vosselman,Juha Hyyppä,Yu Wei Chen,Antero Kukko
出处
期刊:IEEE Transactions on Intelligent Transportation Systems
[Institute of Electrical and Electronics Engineers]
日期:2022-10-01
卷期号:23 (10): 17516-17529
被引量:2
标识
DOI:10.1109/tits.2022.3157611
摘要
In this paper, we present an improved framework for the instance-aware semantic segmentation of road furniture in mobile laser scanning data. In our framework, we first detect road furniture from mobile laser scanning point clouds. Then we decompose the detected pieces of road furniture into poles and their attached components, and extract the instance information of the components with different features. Most importantly, we classify the components into different categories by combining a classifier and a probabilistic graphic model named DenseCRF, which is the major contribution of this paper. For the classification of the components using DenseCRF, the unary potentials and the pairwise potentials are first obtained. The unary potentials are obtained from the classifier which takes the instance information of components as the input. The pairwise potentials are calculated considering contextual relations between components. By utilising DenseCRF, the contextual consistency of components is preserved, and the performance is significantly improved compared to our previous work. We collect three datasets to test our framework, and compare the classification performances of six different classifiers with and without DenseCRF. The combination of random forest with DenseCRF outperforms the other methods and achieves high overall accuracies of 83.7%, 96.4% and 95.3% in these three datasets. Experimental results demonstrate that our framework reliably assigns both semantic information and instance information for mobile laser scanning point clouds of road furniture.
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