Open Access Open Access  Restricted Access Subscription or Fee Access

An Improved Method of Discrete Point Cloud Filtering based on Complex Environment

Fengjun Hu, Yanwei Zhao

Abstract


Under keep the geometrical characteristics of point cloud, efficient processing of the original point cloud data of noise and outliers can greatly improve the search efficiency. A filtering algorithm is proposed to improve existing methods. Firstly, 3D voxel grid is created for the massive point cloud data approximating other points inside the voxel with the centroid of all points; then, the neighborhood of discrete points is analyzed statistically, calculating average distance of every point to its neighboring points and filtering the outliers outside the reference ranges of average distance from the data set; finally, the segmentation rules are improved according to the characteristics of KD-Tree. A large amount of experimental results show that this stable and reliable algorithm can compress and filter the point cloud data quickly and effectively. At the same time, it greatly accelerates the search speed.

Keywords


discrete point cloud, point cloud filtering, KD-Tree, noise and outliers.

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information. Also: DOI is paid service which provided by a third party. We never mentioned that we go for this for our any journal. However, journal have no objection if author go directly for this paid DOI service.