Semantic Segmentation of Surface from Lidar Point Cloud

TL;DR

This paper introduces a fast, real-time algorithm for semantically segmenting surfaces from Lidar point clouds, enhancing SLAM and robotic navigation with accurate scene understanding.

Contribution

The paper presents a novel, efficient method for semantic segmentation of Lidar point clouds using mesh generation, surface normal computation, and a new surface descriptor with classification.

Findings

Outperforms existing methods in speed and accuracy

Enables real-time semantic segmentation for robotic navigation

Facilitates improved scene reconstruction and trajectory planning

Abstract

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point cloud, in real time. Though the data is adequate for extracting information related to SLAM, processing millions of points in the point cloud is computationally quite expensive. The methodology presented proposes a fast algorithm that can be used to extract semantically labelled surface segments from the cloud, in real time, for direct navigational use or higher level contextual scene reconstruction. First, a single scan from a spinning Lidar is used to generate a mesh of subsampled cloud points online. The generated mesh is further used for surface normal computation of those points on the basis of which surface segments are estimated. A novel descriptor to represent the surface segments is proposed and utilized to determine the surface class of the segments (semantic label) with the help of classifier. These semantic surface segments can be further utilized for geometric reconstruction of objects in the scene, or can be used for optimized trajectory planning by a robot. The proposed methodology is compared with number of point cloud segmentation methods and state of the art semantic segmentation methods to emphasize its efficacy in terms of speed and accuracy.