Joint classification and contour extraction of large 3D point clouds

Abstract We present an effective and efficient method for point-wise semantic classification and extraction of object contours of large-scale 3D point clouds. What makes point cloud interpretation challenging is the sheer size of several millions of points per scan and the non-grid, sparse, and uneven distribution of points. Standard image processing tools like texture filters, for example, cannot handle such data efficiently, which calls for dedicated point cloud labeling methods. It turns out that one of the major drivers for efficient computation and handling of strong variations in point density, is a careful formulation of per-point neighborhoods at multiple scales. This allows, both, to define an expressive feature set and to extract topologically meaningful object contours. Semantic classification and contour extraction are interlaced problems. Point-wise semantic classification enables extracting a meaningful candidate set of contour points while contours help generating a rich feature representation that benefits point-wise classification. These methods are tailored to have fast run time and small memory footprint for processing large-scale, unstructured, and inhomogeneous point clouds, while still achieving high classification accuracy. We evaluate our methods on the semantic3d.net benchmark for terrestrial laser scans with > 10 9 points.