The document discusses LiDAR processing for road network asset inventory. It outlines an algorithm developed for extracting road edges from LiDAR point clouds without manual input. It also discusses using the extracted road edges to develop a road surface extraction algorithm. Pole detection and extraction methods are also examined. The goal is to develop automated feature extraction from mobile mapping LiDAR and image data for road inventory purposes.

1. LiDAR processing for road network asset inventory Conor Mc Elhinney, Tim McCarthy Tuesday 28th September 2010

3. EuRSI

4. Road Edge Extraction

5. Pole Detection and Extraction

6. Resolution Effect of speed on scan lines

7. Active Contours

8. Publications

10. EuRSI

11. Road Edge Extraction

12. Pole Detection and Extraction

13. Resolution Effect of speed on scan lines

14. Active Contours

15. Publications

17. Geo-referencing the data Workflow GPS Base Station GPS GPS Mobile

18. Geo-referencing the data Workflow INS GPS Base Station NAV GPS GPS Mobile

19. Geo-referencing the data Workflow INS LiDAR GPS Base Station NAV + GPS Geo-referenced Point Cloud GPS Mobile

20. Geo-referencing the data Workflow INS LiDAR Imagery GPS Base Station NAV + + GPS Geo-referenced Point Cloud Geo-referenced Imagery GPS Mobile

21. Geo-referencing the data Workflow INS LiDAR Imagery GPS Base Station NAV + + GPS Geo-referenced Point Cloud Geo-referenced Imagery GPS Mobile + Geo-referenced Multi-Source Data

22. NRA Fellowship Application The central aim of this project is to design, construct and validate a comprehensive and innovative, road-network asset inventory software application Segments l x w x h LiDAR (GBs) Process Knowledge Road, curvature... Sign posts, lamps.. Bridges, fences...

23. NRA Fellowship Application The central aim of this project is to design, construct and validate a comprehensive and innovative, road-network asset inventory software application that enables LiDAR and LiDAR/image data to be automatically and semi-automatically processed LiDAR (GBs) Segments l x w x h Sign Processing Road Processing Knowledge Road, curvature... Sign posts, lamps.. ?

24. File Preparation workflow Block 1 Geo-referenced Multi-Source Data 1 Block 2 Geo-referenced Multi-Source Data 2 Split / Merge / Join into Geographic Blocks Block 3 Geo-referenced Multi-Source Data 3 . . . . . . Geo-referenced Multi-Source Data N Block N

25. File Preparation workflow Block 1 Processing Knowledge Block 2 + Block 3 . . . Block N +

26. What are you left with? LiDAR folder Block 1 Block 1 Block 1 Block 2 Block 2 Block 2 Survey 10 Apr Survey 5 Dec Survey 2 May Block 3 Block 3 Block 3 . . . . . . . . . ....... Block N Block N Block N MetaData: Geo Bounds, date, processing done MetaData: Geo Bounds, date, processing done MetaData: Geo Bounds, date, processing done

27. Question Give me all the lidar data in dublin 4? LiDAR folder

28. Question Give me all the lidar data in dublin 4 between December 2009 and 2010? LiDAR folder

29. Question Give me only the aerial DEMs created in Dublin 4? LiDAR folder

30. Question New aerial MMS data has been collected, select the relevant terrestrial MMS data and refine the results from previous algorithms. LiDAR folder

31. Workflow solutions This is why there are company’s who specialise in developing workflow solutions.

32. Our Solution LIDAR data Imagery .......

33. Our Solution LIDAR data Imagery ....... GIS DB GIS DB

34. Our Solution LIDAR data Imagery ....... Spatial Query GIS DB GIS DB

35. Our Solution LIDAR data Imagery ....... Spatial Query GIS DB GIS DB Cam 1 Cam 2 Point Cloud

36. Our Solution LIDAR data Imagery ....... Spatial Query GIS DB GIS DB Cam 1 Cam 2 Point Cloud } Data Fusion / Processing

37. Our Solution LIDAR data Imagery ....... Spatial Query GIS DB GIS DB Cam 1 Cam 2 Point Cloud } Road Data Info Data Fusion / Processing

38. Our Solution LIDAR data Imagery ....... Spatial Query GIS DB GIS DB Cam 1 Cam 2 Point Cloud } Road Data Info Data Fusion / Processing Visualisation

39. Video – Web spatial query

40. Demo – Desktop navigation

41. Demo – 2D query

42. Demo – 3D query Load 3D data for pole extraction

44. EuRSI

45. Road Edge Extraction

46. Pole Detection and Extraction

47. Resolution Effect of speed on scan lines

48. Active Contours

49. Publications

54. Once we have converted the point cloud data into a surface, we can start extracting the geometrical properties of the road.Road Surface Road Geometry LiDAR point cloud Processing Centreline / Width ... + + Crossfall Grade / Curvature Imagery

56. Once we have converted the point cloud data into a surface, we can start extracting the geometrical properties of the road.Road Surface Road Geometry Processing LiDAR point cloud Centreline / Width ... + + + Crossfall Grade / Curvature Imagery

59. It takes as input only the LiDAR point cloud.Road Surface Processing LiDAR point cloud + + + Imagery

61. It takes as input only the LiDAR point cloud.

62. There is no manual stages to date.Road Surface Processing LiDAR point cloud + + + Imagery

64. It takes as input only the LiDAR point cloud.

65. There is no manual stages to date.

66. We can extract the left and right edges without bias to the road typeProcessing Road Edges LiDAR point cloud + + + Imagery

68. It takes as input only the LiDAR point cloud.

69. There is no manual stages to date.

70. We can extract the left and right edges without bias to the road type

71. We will then use this information to extract the road points and calculate its surface.Road Surface Processing Road Edges LiDAR point cloud + + + Imagery

73. Semi-automatic feature extraction - road edges - road surface - road geometry - roadside signs / poles / trees - roadside vegetation - roadside features, crash barriers

75. Semi-automatic feature extraction - road edges - road surface - road geometry - roadside signs / poles / trees - roadside vegetation - roadside features, crash barriers

77. Semi-automatic feature extraction - road edges - road surface - road geometry - roadside signs / poles / trees - roadside vegetation - roadside features, crash barriers

79. Semi-automatic feature extraction - road edges - road surface - road geometry - roadside signs / poles / trees - roadside vegetation - roadside features, crash barriers

81. Semi-automatic feature extraction - road edges - road surface - road geometry - roadside signs / poles / trees - roadside vegetation - roadside features, crash barriers

83. Semi-automatic feature extraction - road edges - road surface - road geometry - roadside signs / poles / trees - roadside vegetation - roadside features, crash barriers

85. Semi-automatic feature extraction - road edges - road surface - road geometry - roadside signs / poles / trees - roadside vegetation - roadside features, crash barriers

87. Semi-automatic feature extraction - road edges - road surface - road geometry - roadside signs / poles / trees - roadside vegetation - roadside features, crash barriers

90. EuRSI

91. Road Edge Extraction

92. Pole Detection and Extraction

93. Resolution Effect of speed on scan lines

94. Active Contours

95. Publications

97. Right Edge - Curbstone

98. Right Edge - Curbstone

99. Left Edge - Embankment

100. Left Edge - Embankment

101. Car Occluding Road Edge

102. Car Occluding Road Edge

103. Road Edge Extraction Direction of travel

104. Road Edge Extraction

105. Road Edge Extraction

106. Road Edge Extraction

107. Road Edge Extraction

108. Road Edge Extraction

109. Road Edge Extraction

110. Road Edge Extraction

111. Road Edge Extraction

112. Road Edge Extraction

113. Road Edge Extraction

114. Road Edge Extraction

115. Demo – Road Edges

116. Demo – Road Edges

118. EuRSI

119. Road Edge Extraction

120. Pole Detection and Extraction

121. Resolution Effect of speed on scan lines

122. Active Contours

123. Publications

126. Region Growing – Co-Planar Points

127. Identify Ground, Wall, Pole-like structures

129. Classification by Height

130. Results

131. Demo – Pole Extraction

137. EuRSI

138. Road Edge Extraction

139. Pole Detection and Extraction

140. Resolution Effect of speed on scan lines

141. Active Contours

142. Publications

144. Horizontal offset

145. Measured values

146. Results

148. EuRSI

149. Road Edge Extraction

150. Pole Detection and Extraction

151. Resolution Effect of speed on scan lines

152. Active Contours

153. Publications

156. EuRSI

157. Road Edge Extraction

158. Pole Detection and Extraction

159. Resolution Effect of speed on scan lines

160. Active Contours

161. Publications

163. EuRSI

164. Road Edge Extraction

165. Pole Detection and Extraction

166. Resolution Effect of speed on scan lines

167. Active Contours

168. Publications