Detection and classification of pole-like objects from mobile mapping data

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Laser scanners on a vehicle-based mobile mapping system can capture 3D point-clouds of roads and roadside objects. Since roadside objects have to be maintained periodically, their 3D models are useful for planning maintenance tasks. In our previous work, we proposed a method for detecting cylindrical poles and planar plates in a point-cloud. However, it is often required to further classify pole-like objects into utility poles, streetlights, traffic signals and signs, which are managed by different organizations. In addition, our previous method may fail to extract low pole-like objects, which are often observed in urban residential areas. In this paper, we propose new methods for extracting and classifying pole-like objects. In our method, we robustly extract a wide variety of poles by converting point-clouds into wireframe models and calculating cross-sections between wireframe models and horizontal cutting planes. For classifying pole-like objects, we subdivide a pole-like object into five subsets by extracting poles and planes, and calculate feature values of each subset. Then we apply a supervised machine learning method using feature variables of subsets. In our experiments, our method could achieve excellent results for detection and classification of pole-like objects.




Fukano, K., & Masuda, H. (2015). Detection and classification of pole-like objects from mobile mapping data. In ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences (Vol. 2, pp. 57–64). Copernicus GmbH.

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