Real-time Indexing of Point Cloud Data During LiDAR Capture : Computer Graphics  Visual Computing 2022

Pascal Bormann; Tobias Dorra; Bastian Stahl; Dieter Fellner

doi:10.2312/cgvc.20221173

Real-time Indexing of Point Cloud Data During LiDAR Capture : Computer Graphics Visual Computing 2022

Pascal Bormann, Tobias Dorra, Bastian Stahl, Dieter Fellner

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

Abstract

We introduce a software system that is capable of indexing point cloud data in real-time as it is being captured by a LiDAR (Light Detection and Ranging) sensor. Our system extends the popular MNO (modifiable nested octree) structure so that it can be built progressively without knowing the bounding box of the point cloud. Using a task-based parallel algorithm incoming points are continuously processed and distributed to the octree nodes using grid-based sampling. Different task priority functions enable prioritization of either high point throughput or low latency. We provide a reference implementation of this system and evaluate it using both a synthetic and a real-world test scenario. The synthetic test demonstrates good scalability up to 16 threads, with maximum point throughputs of up to 1.8 million points per second. These numbers are verified on a sensor system using a Velodyne VLP-16 LiDAR sensor, where our system is able to index all data produced by the scanner in real-time

Original language	English
Title of host publication	Computer Graphics Visual Computing 2022
Publisher	Eurographics - European Association for Computer Graphics
Pages	65 - 73
ISBN (Electronic)	978-3-03868-188-5
DOIs	https://doi.org/10.2312/cgvc.20221173
Publication status	Published - 2022
Event	40th Computer Graphics & Visual Computing Conference: CGVC 2022 - Cardiff, United Kingdom Duration: 15 Sept 2022 → 16 Sept 2022

Conference

Conference	40th Computer Graphics & Visual Computing Conference
Abbreviated title	CGVC 2022
Country/Territory	United Kingdom
City	Cardiff
Period	15/09/22 → 16/09/22

Keywords

Lead Topic: Smart City
Research Line: Computer graphics (CG)
Point clouds
Indexing
Realtime
3D Data acquisition

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.2312/cgvc.20221173

https://publica.fraunhofer.de/handle/publica/426033; http://bibcd.igd.fraunhofer.de/bibcd/INIScience/papers/2022/22p040.pdf

Cite this

Real-time Indexing of Point Cloud Data During LiDAR Capture : Computer Graphics Visual Computing 2022. / Bormann, Pascal; Dorra, Tobias; Stahl, Bastian et al.
Computer Graphics Visual Computing 2022. Eurographics - European Association for Computer Graphics, 2022. p. 65 - 73.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

Bormann, P, Dorra, T, Stahl, B & Fellner, D 2022, Real-time Indexing of Point Cloud Data During LiDAR Capture : Computer Graphics Visual Computing 2022. in Computer Graphics Visual Computing 2022. Eurographics - European Association for Computer Graphics, pp. 65 - 73, 40th Computer Graphics & Visual Computing Conference, Cardiff, United Kingdom, 15/09/22. https://doi.org/10.2312/cgvc.20221173

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