• ETRI Journal
• /
• v.45 no.5
• /
• pp.836-846
• /
• 2023

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.

• Korean Journal of Computational Design and Engineering
• /
• v.21 no.3
• /
• pp.341-352
• /
• 2016

Manual 3D pipeline modeling from LiDAR scanned point cloud data is laborious and time-consuming process. This paper presents a method to extract the pipe, elbow and branch information which is essential to the automatic modeling of the pipeline connection. The pipe geometry is estimated from the point cloud data through the Hough transform and the elbow position is calculated by the medial axis intersection for assembling the nearest pair of pipes. The branch is also created for a pair of pipe segments by estimating the virtual points on one pipe segment and checking for any feasible intersection with the other pipe's endpoint within the pre-defined range of distance. As a result of the automatic modeling, a complete 3D pipeline model is generated by connecting the extracted information of pipes, elbows and branches.

• Journal of KIBIM
• /
• v.9 no.2
• /
• pp.21-28
• /
• 2019

Recently, many scan projects are gradually increasing for maintenance, construction. The scan data contains useful data, which can be generated in the target application from the facility, space. However, modeling the scan data required for the application requires a lot of cost. In example, the converting 3D point cloud obtained from scan data into 3D object is a time-consuming task, and the modeling task is still very manual. This research proposes Scan-to-Geometry Mapping Rule Definition (S2G-MD) which maps point cloud data to geometry for irregular building plane objects. The S2G-MD considers user use case variability. The method to define rules for mapping scan to geometry is proposed. This research supports the reverse engineering semi-automatic process for the building planar geometry from the user perspective.

• Journal of KIBIM
• /
• v.10 no.4
• /
• pp.32-39
• /
• 2020

In recent years, the construction industry is getting bigger and more complex, so it is becoming difficult to acquire point cloud data for construction equipments and workers. Point cloud data is measured using a drone and MMS(Mobile Mapping System), and the collected point cloud data is used to create a 3D digital map. In particular, the construction site is located at outdoors and there are many irregular terrains, making it difficult to collect point cloud data. For these reasons, adopting a noise reduction algorithm suitable for the characteristics of the construction industry can affect the improvement of the analysis accuracy of digital maps. This is related to various environments and variables of the construction site. Therefore, this study reviewed and analyzed the existing research and techniques on the noise reduction algorithm. And based on the results of literature review, performance evaluation of major noise reduction algorithms was conducted for digital maps of construction sites. As a result of the performance evaluation in this study, the voxel grid algorithm showed relatively less execution time than the statistical outlier removal algorithm. In addition, analysis results in slope, space, and earth walls of the construction site digital map showed that the voxel grid algorithm was relatively superior to the statistical outlier removal algorithm and that the noise removal performance of voxel grid algorithm was superior and the object preservation ability was also superior. In the future, based on the results reviewed through the performance evaluation of the noise reduction algorithm of this study, we will develop a noise reduction algorithm for 3D point cloud data that reflects the characteristics of the construction site.

• Journal of Computational Design and Engineering
• /
• v.1 no.3
• /
• pp.202-212
• /
• 2014

To survive in the current shipbuilding industry, it is of vital importance for shipyards to have the ship components' accuracy evaluated efficiently during most of the manufacturing steps. Evaluating components' accuracy by comparing each component's point cloud data scanned by laser scanners and the ship's design data formatted in CAD cannot be processed efficiently when (1) extract components from point cloud data include irregular obstacles endogenously, or when (2) registration of the two data sets have no clear direction setting. This paper presents reformative point cloud data processing methods to solve these problems. K-d tree construction of the point cloud data fastens a neighbor searching of each point. Region growing method performed on the neighbor points of the seed point extracts the continuous part of the component, while curved surface fitting and B-spline curved line fitting at the edge of the continuous part recognize the neighbor domains of the same component divided by obstacles' shadows. The ICP (Iterative Closest Point) algorithm conducts a registration of the two sets of data after the proper registration's direction is decided by principal component analysis. By experiments conducted at the shipyard, 200 curved shell plates are extracted from the scanned point cloud data, and registrations are conducted between them and the designed CAD data using the proposed methods for an accuracy evaluation. Results show that the methods proposed in this paper support the accuracy evaluation targeted point cloud data processing efficiently in practice.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2024.05a
• /
• pp.482-483
• /
• 2024

Real-time Point Cloud Ground Segmentation은 자율주행에서 판단 및 객체 탐지/추적 등 다양한 분야에 도움을 준다. 이에 따라, Real-time Point Cloud Ground Segmentation을 했으며, 센서로는 라이다, 알고리즘으로는 TRAVEL논문을 인용했다. 또한 Real-time Point Cloud Ground Segmentation뿐 만 아니라 이동가능지형 판단(Traversability)을 하였다. 그리고 최종적으로, 위와 같은 알고리즘들을 회사 로봇(Scout Mini Robot)에 접목시켰으며 그 과정에서 TRAVEL 알고리즘내에 내제된 파라미터 값들을 최적화시키는 과정이 필요하였다. 그래서 3가지의 방법을 통해 파라미터 값을 선정한 후, 결과값을 비교 분석하였다. 연구 결과, Rellis-3D와 베이지안 최적화를 사용한 베이지안 파라미터가 최적의 파라미터임을 확인할 수 있었다.

• Journal of Broadcast Engineering
• /
• v.24 no.4
• /
• pp.660-669
• /
• 2019

Recently, with the development of three-dimensional scanning devices and multi-dimensional array cameras, research is continuously conducted on techniques for handling three-dimensional data in application fields such as AR (Augmented Reality) / VR (Virtual Reality) and autonomous traveling. In particular, in the AR / VR field, content that expresses 3D video as point data has appeared, but this requires a larger amount of data than conventional 2D images. Therefore, in order to serve 3D point cloud content to users, various technological developments such as highly efficient encoding / decoding and storage, transfer, etc. are required. In this paper, V-PCC bit stream created using V-PCC encoder proposed in MPEG-I (MPEG-Immersive) V-PCC (Video based Point Cloud Compression) group, It is defined by the MPEG-DASH (Dynamic Adaptive Streaming over HTTP) standard, and provides to be composed of segments. Also, in order to provide the user with the information of the 3D coordinate system, the depth information parameter of the signaling message is additionally defined. Then, we design a verification platform to verify the technology proposed in this paper, and confirm it in terms of the algorithm of the proposed technology.

• Journal of Internet of Things and Convergence
• /
• v.9 no.6
• /
• pp.11-16
• /
• 2023

The technology of 3D reconstruction, primarily relying on point cloud data, is essential for digitizing objects or spaces. This paper aims to utilize reinforcement learning to achieve the acquisition of point clouds in a given environment. To accomplish this, a simulation environment is constructed using Unity, and reinforcement learning is implemented using the Unity package known as ML-Agents. The process of point cloud acquisition involves initially setting a goal and calculating a traversable path around the goal. The traversal path is segmented at regular intervals, with rewards assigned at each step. To prevent the agent from deviating from the path, rewards are increased. Additionally, rewards are granted each time the agent fixates on the goal during traversal, facilitating the learning of optimal points for point cloud acquisition at each traversal step. Experimental results demonstrate that despite the variability in traversal paths, the approach enables the acquisition of relatively accurate point clouds.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.23 no.6
• /
• pp.542-553
• /
• 2020

Virtual world and simulation need large scale map rendering. However, rendering too many vertices is a computationally complex and time-consuming process. Some game development companies have developed 3D LOD objects for high-speed rendering based on distance between camera and 3D object. Terrain physics simulation researchers need a way to recognize the original object shape from 3D LOD objects. In this paper, we proposed simply automatic LOD framework using point cloud data (PCD). This PCD was created using a 6-direct orthographic ray. Various experiments are performed to validate the effectiveness of the proposed method. We hope the proposed automatic LOD generation framework can play an important role in game development and terrain physic simulation.

• International Journal of Internet, Broadcasting and Communication
• /
• v.14 no.3
• /
• pp.276-284
• /
• 2022

In this paper, we implemented cloud rendering using WebRTC for high-quality AR and VR services. Cloud rendering is an applied technology of cloud computing. It efficiently handles the rendering of large volumes of 3D content. The conventional VR and AR service is a method of downloading 3D content. The download time is delayed as the 3D content capacity increases. Cloud rendering is a streaming method according to the user's point of view. Therefore, stable service is possible regardless of the 3D content capacity. In this paper, we implemented cloud rendering using WebRTC and analyzed its performance. We compared latency of 100MB, 300MB, and 500MB 3D AR content in 100Mbps and 300Mbps internet environments. As a result of the analysis, cloud rendering showed stable latency regardless of data volume. On the other hand, the conventional method showed an increase in latency as the data volume increased. The results of this paper quantitatively evaluate the stability of cloud rendering. This is expected to contribute to high-quality VR and AR services