Near real-time point cloud processing using the PCL

Marius Miknis*, Ross Davies, Peter Plassmann, Andrew Ware

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddCyfraniad i gynhadleddadolygiad gan gymheiriaid

Crynodeb

Real-time 3D data processing is important in robotics, video games, environmental mapping, medical and many other fields. In this paper we propose a novel optimisation approach for the open source Point Cloud Library (PCL) that is frequently used for processing 3D data. Three aspects of the PCL are discussed: point cloud creation from disparity of colour image pairs, voxel grid downsample filtering to simplify point clouds and passthrough filtering to adjust the size of the point cloud. Additionally, rendering is examined. An optimisation technique based on CPU cycle measurement is proposed and applied in order to optimise those parts of the processing chain where measured performance is worst. The PCL modules thus optimised show on average an improvement in speed of 2.4x for point cloud creation, 91x for voxel grid filtering and 7.8x for the passthrough filter.

Iaith wreiddiolSaesneg
Teitl2015 INTERNATIONAL CONFERENCE ON SYSTEMS, SIGNALS AND IMAGE PROCESSING (IWSSIP 2015)
GolygyddionP Liatsis, A Uus, S Miah
CyhoeddwrInstitute of Electrical and Electronics Engineers
Tudalennau153-156
Nifer y tudalennau4
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 2015
Digwyddiad22nd International Conference on Systems, Signals and Image Processing (IWSSIP) - London
Hyd: 10 Sep 201512 Sep 2015

Cyfres gyhoeddiadau

EnwInternational Conference on Systems Signal and Image Processing
CyhoeddwrIEEE
ISSN (Argraffiad)2157-8672

Cynhadledd

Cynhadledd22nd International Conference on Systems, Signals and Image Processing (IWSSIP)
DinasLondon
Cyfnod10/09/1512/09/15

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