Year 2020, Volume 3 , Issue 4, Pages 128 - 137 2020-10-01

In recent years, point cloud data generated with RGB-D cameras, 3D lasers, and 3D LiDARs have been employed frequently in robotic applications. In indoor environments, RGB-D cameras, which have short-range and can only describe the vicinity of the robots, generally are opted due to their low cost. On the other hand, 3D lasers and LiDARs can capture long-range measurements and generally are used in outdoor applications. In this study, we deal with the segmentation of indoor planar surfaces such as wall, floor, and ceiling via point cloud data. The segmentation methods, which are situated in Point Cloud Library (PCL) were executed with 3D laser point cloud data. The experiments were conducted to evaluate the performance of these methods with the publicly available Fukuoka indoor laser dataset, which has point clouds with different noise levels. The test results were compared in terms of segmentation accuracy and the time elapsed for segmentation. Besides, the general characteristics of each method were discussed. In this way, we revealed the positive and negative aspects of these methods for researchers that plan to apply them to 3D laser point cloud data.
3D laser, Segmentation, Planar surfaces, Indoor, Fukuoka indoor dataset, PCL
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Primary Language en
Subjects Engineering
Journal Section Research Articles
Authors

Orcid: 0000-0003-2775-1798
Author: Eyüp Eymen ERUYAR
Institution: ESKISEHIR OSMANGAZI UNIVERSITY
Country: Turkey


Orcid: 0000-0002-3083-2460
Author: Metehan YILMAZ
Institution: ESKISEHIR OSMANGAZI UNIVERSITY
Country: Turkey


Orcid: 0000-0003-0214-2662
Author: Berat YILMAZ
Institution: ESKISEHIR OSMANGAZI UNIVERSITY
Country: Turkey


Orcid: 0000-0003-2918-2832
Author: Onur AKBULUT
Institution: ESKISEHIR OSMANGAZI UNIVERSITY
Country: Turkey


Orcid: 0000-0003-3345-9339
Author: Kaya TURGUT
Institution: ESKISEHIR OSMANGAZI UNIVERSITY
Country: Turkey


Orcid: 0000-0002-2001-3381
Author: Burak KALECİ (Primary Author)
Institution: ESKİŞEHİR OSMANGAZİ ÜNİVERSİTESİ
Country: Turkey


Dates

Publication Date : October 1, 2020

Bibtex @research article { bsengineering735705, journal = {Black Sea Journal of Engineering and Science}, issn = {}, eissn = {2619-8991}, address = {bsjsci@blackseapublishers.com}, publisher = {Uğur ŞEN}, year = {2020}, volume = {3}, pages = {128 - 137}, doi = {10.34248/bsengineering.735705}, title = {A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data}, key = {cite}, author = {Eruyar, Eyüp Eymen and Yılmaz, Metehan and Yılmaz, Berat and Akbulut, Onur and Turgut, Kaya and Kaleci̇, Burak} }
APA Eruyar, E , Yılmaz, M , Yılmaz, B , Akbulut, O , Turgut, K , Kaleci̇, B . (2020). A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data . Black Sea Journal of Engineering and Science , 3 (4) , 128-137 . DOI: 10.34248/bsengineering.735705
MLA Eruyar, E , Yılmaz, M , Yılmaz, B , Akbulut, O , Turgut, K , Kaleci̇, B . "A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data" . Black Sea Journal of Engineering and Science 3 (2020 ): 128-137 <https://dergipark.org.tr/en/pub/bsengineering/issue/56486/735705>
Chicago Eruyar, E , Yılmaz, M , Yılmaz, B , Akbulut, O , Turgut, K , Kaleci̇, B . "A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data". Black Sea Journal of Engineering and Science 3 (2020 ): 128-137
RIS TY - JOUR T1 - A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data AU - Eyüp Eymen Eruyar , Metehan Yılmaz , Berat Yılmaz , Onur Akbulut , Kaya Turgut , Burak Kaleci̇ Y1 - 2020 PY - 2020 N1 - doi: 10.34248/bsengineering.735705 DO - 10.34248/bsengineering.735705 T2 - Black Sea Journal of Engineering and Science JF - Journal JO - JOR SP - 128 EP - 137 VL - 3 IS - 4 SN - -2619-8991 M3 - doi: 10.34248/bsengineering.735705 UR - https://doi.org/10.34248/bsengineering.735705 Y2 - 2020 ER -
EndNote %0 Black Sea Journal of Engineering and Science A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data %A Eyüp Eymen Eruyar , Metehan Yılmaz , Berat Yılmaz , Onur Akbulut , Kaya Turgut , Burak Kaleci̇ %T A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data %D 2020 %J Black Sea Journal of Engineering and Science %P -2619-8991 %V 3 %N 4 %R doi: 10.34248/bsengineering.735705 %U 10.34248/bsengineering.735705
ISNAD Eruyar, Eyüp Eymen , Yılmaz, Metehan , Yılmaz, Berat , Akbulut, Onur , Turgut, Kaya , Kaleci̇, Burak . "A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data". Black Sea Journal of Engineering and Science 3 / 4 (October 2020): 128-137 . https://doi.org/10.34248/bsengineering.735705
AMA Eruyar E , Yılmaz M , Yılmaz B , Akbulut O , Turgut K , Kaleci̇ B . A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data. BSJ Eng. Sci.. 2020; 3(4): 128-137.
Vancouver Eruyar E , Yılmaz M , Yılmaz B , Akbulut O , Turgut K , Kaleci̇ B . A Comparative Study for Indoor Planar Surface Segmentation via 3D Laser Point Cloud Data. Black Sea Journal of Engineering and Science. 2020; 3(4): 128-137.