Mathematical Morphology on Irregularly Sampled Data Applied to Segmentation of 3D Point Clouds of Urban Scenes

Teo Asplund , Andrés Serna (1) , Beatriz Marcotegui (1) , Robin Strand (2) , Cris Luengo Hendriks (3)

1 CMM - Centre de Morphologie Mathématique
2 CBA - Centre for Image Analysis
3 Uppsala University

This paper proposes an extension of mathematical morphology on irregularly sampled signals to 3D point clouds. The proposed method is applied to the segmentation of urban scenes to show its applicability to the analysis of point cloud data. Applying the proposed operators has the desirable side-effect of homogenizing signals that are sampled heterogeneously. In experiments we show that the proposed segmenta-tion algorithm yields good results on the Paris-rue-Madame database and is robust in terms of sampling density, i.e. yielding similar labelings for more sparse samplings of the same scene.

Domaines: Informatique [cs]; Traitement des images [eess.IV]

Teo Asplund, Andrés Serna, Beatriz Marcotegui, Robin Strand, Cris Luengo Hendriks. Mathematical Morphology on Irregularly Sampled Data Applied to Segmentation of 3D Point Clouds of Urban Scenes. 14th International Symposium on Mathematical Morphology and Its Applications to Signal and Image Processing, Jul 2019, Saarbrücken, Germany. ⟨10.1007/978-3-030-20867-7_29⟩. ⟨hal-02430538⟩