Normal Vector Direction-based 3D LiDAR Point Cloud Planar Surface Removal for Object Cluster Minimization in Human Activity Monitoring System

Nova Eka Budiyanta, Eko Mulyanto Yuniarno, Tsuyoshi Usagawa, Mauridhi Hery Purnomo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

The use of 3-Dimensional Light Detection and Ranging (3D LiDAR) point cloud as the alternative data to reduce privacy exposure in monitoring systems has been carried out in several studies. Unfortunately, various challenges in using point clouds intersect with the amount of data and computational costs. Several studies attempted to optimize the point cloud processing approach by segmenting the ground plane to get the object clusters separated. However, many unnecessary points can still burden the computation process. Since the ground plane mainly represents the horizontal planar plane on the x, y axis, this study tried to reduce the points on the vertical planar plane on the x, z and y, z axes with the x, y horizontal planar plane as well based on the surface normal vector direction of each point. The proposed approach has successfully reduced the raw point cloud by 79.29% removing the point cloud that indicates the planar surface of the three axes while maintaining the essential object of the monitoring system on the KITTI raw dataset. Therefore, the object cluster can be minimized, supporting the computational costs for further research in human activity monitoring systems.

Original languageEnglish
Title of host publicationI2MTC 2023 - 2023 IEEE International Instrumentation and Measurement Technology Conference
Subtitle of host publicationRising Above Covid-19, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665453837
DOIs
Publication statusPublished - 2023
Event2023 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2023 - Kuala Lumpur, Malaysia
Duration: 22 May 202325 May 2023

Publication series

NameConference Record - IEEE Instrumentation and Measurement Technology Conference
Volume2023-May
ISSN (Print)1091-5281

Conference

Conference2023 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2023
Country/TerritoryMalaysia
CityKuala Lumpur
Period22/05/2325/05/23

Keywords

  • 3D LiDAR
  • Normal Vector Direction
  • Object Cluster Minimization
  • Planar Surface Re-moval
  • Point Cloud

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