Comment utiliser les données LiDAR pour classer des objets en robotique ?

LiDAR is a remote sensing technology that uses laser pulses to create 3D point clouds of a scene, representing objects in terms of their coordinates and intensity. Object classification involves analyzing these clouds to identify and label different objects. The process involves data acquisition, preprocessing, segmentation, feature extraction, and classification using machine learning algorithms. Common classification methods include Support Vector Machines (SVMs), Random Forests, Decision Trees, Artificial Neural Networks (ANNs), and Convolutional Neural Networks (CNNs). LiDAR object classification has applications in autonomous vehicles, robotics, urban planning, agriculture, archaeology, and geography.

To prepare LiDAR data for object classification, follow these steps: 1) Import and format the data in formats like LAS, LAZ, or PCD, 2) Preprocess the data by filtering and ground segmenting, 3) Register the data using algorithms like Iterative Closest Point (ICP) or feature-based matching, 4) Normalize the data to a common range or reference frame, 5) Extract descriptive features from the preprocessed point cloud, 6) Divide the data into training and testing sets, and 7) Consider data augmentation to increase the amount and diversity of training data for better model robustness and generalization.

Machine learning-based methods like SVMs, Random Forests, Decision Trees, ANNs, CNNs, Hough Transform, Region Growing, Template Matching, Statistical Approaches, and Hybrid Approaches are used for object classification in LiDAR. High-dimensional data and nonlinear relationships can be classified in real time or offline using these methods. Statistical approaches capture point cloud distributions and categorise objects using probability density functions, and hybrid approaches integrate different methods for better performance. Method selection depends on data properties, computational resources, accuracy, and interpretability.

LiDAR object classification problems include data quality, feature representation, computational efficiency, class imbalance, object variability, environmental influences, interpretability, and real-time performance. Noise, density variation, ground clutter, unstructured data, high dimensionality, and algorithm optimisation impact data quality. Class imbalance can bias classification models and make large point clouds computationally intensive. Variable object shape, size, and orientation might be difficult. Lighting and weather might alter feature extraction and classification. Real-time object classification is critical in autonomous driving, therefore interpretability and performance are crucial.

Getting access to labeled ground truth data (true labels) can also be tricky depending on what kind of scene is being tackled and what types of objects are being classified. Some benchmark datasets are starting to offer a pre-curated ground truth as well for obtaining classification accuracy and establishing performance baselines. But, if you deploy in a custom setting, this would be something worth considering as it could add to project costs, timelines, or, both.

LiDAR is utilised for autonomous vehicle obstacle identification and avoidance, road marker detection and mapping for exact localization and course planning, and robot traffic sign recognition. Urban planning and mapping benefit from its precise 3D models for infrastructure assessment and catastrophe management. It finds buried buildings and creates 3D maps of archaeological sites for archaeology. Geology uses LiDAR for terrain mapping and rock type classification. Forestry uses it for inventory, wildlife monitoring, mining for resource mapping, agriculture for crop and livestock monitoring.