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Unsupervised Gaussian mixture models for the classification of outdoor environments using 3D terrestrial lidar data

Artur Maligo 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : The processing of 3D lidar point clouds enable terrestrial autonomous mobile robots to build semantic models of the outdoor environments in which they operate. Such models are interesting because they encode qualitative information, and thus provide to a robot the ability to reason at a higher level of abstraction. At the core of a semantic modelling system, lies the capacity to classify the sensor observations. We propose a two-layer classi- fication model which strongly relies on unsupervised learning. The first, intermediary layer consists of a Gaussian mixture model. This model is determined in a training step in an unsupervised manner, and defines a set of intermediary classes which is a fine-partitioned representation of the environment. The second, final layer consists of a grouping of the intermediary classes into final classes that are interpretable in a considered target task. This grouping is determined by an expert during the training step, in a process which is supervised, yet guided by the intermediary classes. The evaluation is done for two datasets acquired with different lidars and possessing different characteristics. It is done quantitatively using one of the datasets, and qualitatively using another. The system is designed following the standard learning procedure, based on a training, a validation and a test steps. The operation follows a standard classification pipeline. The system is simple, with no requirement of pre-processing or post-processing stages.
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Contributor : Arlette Evrard <>
Submitted on : Monday, April 4, 2016 - 2:35:07 PM
Last modification on : Thursday, June 10, 2021 - 3:02:07 AM
Long-term archiving on: : Monday, November 14, 2016 - 3:10:19 PM


  • HAL Id : tel-02051445, version 2


Artur Maligo. Unsupervised Gaussian mixture models for the classification of outdoor environments using 3D terrestrial lidar data. Automatic. INSA de Toulouse, 2016. English. ⟨tel-02051445v2⟩



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