P5 Presentation by Florian Fichtner: “Semantic enrichment of a point cloud based on an octree for multi-storey pathfinding”

P5 Presentation by Florian Fichtner:  “Semantic enrichment of a point cloud based on an octree for multi-storey pathfinding”

Date and time: 28th of June, 16:30

Location: Architecture, TU Delft, BK-CZ E

Synopsis:
Acquiring point clouds of indoor environments became increasingly accessible in recent years. However, the resulting 3D point cloud data is unstructured and does not yet contain enough information to be useful for complex tasks like pathfinding. Indoor models which are currently derived from point clouds do not include clutter like furniture and stairs. The necessary connections to enable multi-storey pathfinding is lost.

The thesis proposes a workflow to semantically enrich indoor point clouds using an octree data structure. Meaning is added to the point cloud scene that allows to act as a basis for a graph which follows navigation constraints of humans through an indoor environment. The approach for semantic enrichment of this study is capable of separating storeys, detecting floors, walls, stairs and obstacles like furniture.

Mentors:
Abdoulaye A. Diakité
Sisi Zlatanova
Robert Voûte (CGI)
Edward Verbree

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