Classification of indoor point clouds using machine learning for indoor mapping

Abstract

3-Dimensional point cloud classification of interior spaces is of great importance in the creation of interior models in applications such as indoor mapping, indoor navigation, building renovation, facility management, etc. In this study, point clouds of office rooms in the S3DIS (Stanford 3D Indoor Scene) dataset produced by Stanford University were classified with Random Forest (RF) and Multilayer Perceptron (MLP) machine learning methods, and indoor maps were created. For input data, attributes X, Y, Z and R, G, B were used. The classes include ceiling, floor, wall, door, window, column, table, chair, board, clutter, and bookcase objects. To create indoor maps in the training and test data, the classes were merged as follows: wall, door, window, column, board, and bookcase were merged into one class (merged class-1), and table, chair, and clutter were merged into another class (merged class-2). An office was used for the training data and tested in five different offices. The RF method achieved an average classification accuracy of 88%, and the MLP method achieved an average accuracy of 85%. Thus, indoor maps were obtained with high accuracy, especially thanks to the ceiling and merged class-1, which were classified with high accuracy.

Keywords

• Indoor
• Point cloud
• Classification
• Machine learning
• Random Forest
• Multi-Layer Perceptron

İç mekân harita yapımı için makine öğrenmesiyle nokta bulutlarının sınıflandırılması

Abstract

İç mekânlara ait 3-Boyutlu nokta bulutu sınıflandırması, iç mekân harita yapımı, iç mekân navigasyonu, bina yenileme, tesis yönetimi vb. uygulamalarda iç mekân modellerinin oluşturulmasında büyük önem taşımaktadır. Bu çalışmada, Stanford Üniversitesi tarafından üretilen S3DIS (Stanford 3D Indoor Scene) veri setinde bulunan ofis odalarına ait nokta bulutları makine öğrenmesi yöntemlerinden Rasgele Orman (RO) ve Çok Katmanlı Algılayıcı (ÇKA) ile sınıflandırılarak iç mekân haritaları oluşturulmuştur. Giriş verileri için X, Y, Z ve R, G, B öznitelik bilgileri kullanılmıştır. Sınıflar tavan, zemin, duvar, kapı, pencere, kolon, masa, sandalye, pano, dağınıklık ve kitaplık nesnelerini kapsamaktadır. Eğitim ve test verilerinde iç mekân haritalarının oluşturulması amacıyla duvar, kapı, pencere, kolon, pano ve kitaplık bir sınıf (birleştirilmiş sınıf-1); masa, sandalye ve dağınıklık bir sınıf (birleştirilmiş sınıf-2) halinde birleştirilmiştir. Eğitim verisi için bir ofis kullanılmış ve beş ayrı ofiste test edilmiştir. RO yöntemiyle ortalama %88, ÇKA yöntemiyle ortalama %85 sınıflandırma doğruluğu elde edilmiştir. Böylece özellikle yüksek doğrulukla sınıflandırılan tavan ve birleştirilmiş sınıf-1 nesneleri sayesinde iç mekân haritaları da yüksek doğrulukla elde edilmiştir.

Keywords

• İç mekân
• Nokta bulutu
• Sınıflandırma
• Makine öğrenmesi
• Rastgele Orman
• Çok Katmanlı Algılayıcı

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