# Object Segmentation of Cluttered Airborne LiDAR Point Clouds

arXiv: https://arxiv.org/abs/2210.16081 · HTML: https://mlsanity.com/paper/2210.16081/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 18 references that are in the map.
- First posted on arXiv 28 Oct 2022.

## Builds on (most cited first, 11 of 11)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [Class-Balanced Loss Based on Effective Number of Samples](https://mlsanity.com/paper/1901.05555/) (2019)
- [Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs](https://mlsanity.com/paper/1711.09869/) (2017)
- [End-to-End Multi-View Fusion for 3D Object Detection in LiDAR Point Clouds](https://mlsanity.com/paper/1910.06528/) (2019)
- [GSPN: Generative Shape Proposal Network for 3D Instance Segmentation in Point Cloud](https://mlsanity.com/paper/1812.03320/) (2018)
- [The Devil is in the Tails: Fine-grained Classification in the Wild](https://mlsanity.com/paper/1709.01450/) (2017)
- [Recurrent Slice Networks for 3D Segmentation of Point Clouds](https://mlsanity.com/paper/1802.04402/) (2018)

## Built on by (most cited first, 1 of 1)

- [Self-Supervised Pre-Training Boosts Semantic Scene Segmentation on LiDAR Data](https://mlsanity.com/paper/2309.02139/) (2023)

## Abstract (arXiv)

Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich three-dimensional spatial information and their capacity to obtain multiple returns. However, processing point cloud data still requires a significant effort in manual editing. Certain human-made objects are difficult to detect because of their variety of shapes, irregularly-distributed point clouds, and low number of class samples. In this work, we propose an efficient end-to-end deep learning framework to automatize the detection and segmentation of objects defined by an arbitrary number of LiDAR points surrounded by clutter. Our method is based on a light version of PointNet that achieves good performance on both object recognition and segmentation tasks. The results are tested against manually delineated power transmission towers and show promising accuracy.