Recognizing Pole-like Objects from Mobile LiDAR Data

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atmire.migration.oldid5157
dc.contributor.advisorWang, Ruisheng
dc.contributor.authorZheng, Han
dc.contributor.committeememberLichti, Derek
dc.contributor.committeememberShahbazi, Mozhdeh
dc.date.accessioned2016-12-20T17:02:20Z
dc.date.available2016-12-20T17:02:20Z
dc.date.issued2016
dc.date.submitted2016en
dc.description.abstractWith the development of the laser scanning systems, and the increasing interest on three-dimensional city scene understanding and reconstruction, more and more efforts have been put on the research of object detection and recognition from laser scanner data. Pole-like objects such as traffic signs, street lighting poles, traffic lights are the key components of the road infrastructure. They play an important role in the modern traffic systems and are highly related to our daily life. In this thesis, a pipeline for recognizing the pole-like objects from mobile LiDAR (Light Detection and Ranging) data is introduced. In the segmentation step, a local elevation context based region growing method is proposed. Comparing with traditional methods such as elevation histogram based method and curb detection based method, the introduced method is more robust to fluctuations and non-curb area. Further, by observing the key difference of object's penetrability between the vegetation and above ground objects, a local roughness based method is proposed. Based on the calculated local roughness of each point, points are classified into two categories, the vegetation points and the non-vegetation points, through a graph-cuts based method. In the recognition step, a Gaussian Mixture Model (GMM) based modeling method is introduced. Instead of using feature based recognition method which is sensitive to the noise background, in this research, a statistical model. based method is introduced. First, the points' distribution of each segmented cluster is modeled and described by the Mixture of Gaussians. Then, the candidate models are matched with the pre-trained sample models. Finally, the labels of the sample models are assigned to the best matched candidate to obtain the recognition results. Experimental results show that, the introduced recognition method achieves 90\% of the true positive rate on recognizing pole-like objects.en_US
dc.identifier.citationZheng, H. (2016). Recognizing Pole-like Objects from Mobile LiDAR Data (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/27557en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/27557
dc.identifier.urihttp://hdl.handle.net/11023/3495
dc.language.isoeng
dc.publisher.facultyGraduate Studies
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subjectGeotechnology
dc.subject.classificationMobile LiDAR Data Processingen_US
dc.subject.classification3D Pole-like Objects Recognitionen_US
dc.subject.classificationVegetation Removalen_US
dc.titleRecognizing Pole-like Objects from Mobile LiDAR Data
dc.typemaster thesis
thesis.degree.disciplineGeomatics Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
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