RT Journal Article
T1 Point cloud room segmentation based on indoor spaces and 3D mathematical morphology
A1 Frías Nores, Ernesto
A1 Balado Frías, Jesús
A1 Díaz Vilariño, Lucía
A1 Lorenzo Cimadevila, Henrique Remixio
K1 3305.22 Metrología de la Edificación
K1 3311.02 Ingeniería de Control
K1 3305.34 Topografía de la Edificación
AB Room segmentation is a matter of ongoing interesting for indoor navigation and reconstruction in robotics and AEC. While in robotics field, the problem room segmentation has been typically addressed on 2D floorplan, interest in enrichment 3D models providing more detailed representation of indoors has been growing in the AEC. Point clouds make available more realistic and update but room segmentation from point clouds is still a challenging topic. This work presents a method to carried out point cloud segmentation into rooms based on 3D mathematical morphological operations. First, the input point cloud is voxelized and indoor empty voxels are extracted by CropHull algorithm. Then, a morphological erosion is performed on the 3D image of indoor empty voxels in order to break connectivity between voxels belonging to adjacent rooms. Remaining voxels after erosion are clustered by a 3D connected components algorithm so that each room is individualized. Room morphology is retrieved by individual 3D morphological dilation on clustered voxels. Finally, unlabelled occupied voxels are classified according proximity to labelled empty voxels after dilation operation. The method was tested in two real cases and segmentation performance was evaluated with encouraging results.
PB ISPRS - International Archives of the Photogrammetry Remote Sensing and Spatial Information Sciences
SN 16821777
YR 2020
FD 2020-09-03
LK http://hdl.handle.net/11093/1553
UL http://hdl.handle.net/11093/1553
LA eng
NO ISPRS - International Archives of the Photogrammetry Remote Sensing and Spatial Information Sciences, XLIV-4/W1-2020, 49-55 (2020)
NO Xunta de Galicia | Ref. ED481B-2019-061
DS Investigo
RD 25-abr-2025