Segmentation

Segment point cloud data using deep learning and geometric algorithms

Semantic segmentation associates each point in a 3-D point cloud with a class label, such as car, truck, ground, or vegetation. Lidar Toolbox™ provides deep learning algorithms to perform semantic segmentation on point cloud data. Use PointSeg, SqueezeSegV2, and PointNet++ convolutional neural networks (CNN) to develop semantic segmentation models.

You can segment ground in point cloud data using the segmentGroundSMRF function. It is used in the Terrain Classification for Aerial Lidar Data workflow, which segments ground, vegetation and buildings in aerial point clouds.

Functions

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Geometrical

`segmentGroundSMRF`	Segment ground from lidar data using SMRF algorithm
`segmentLidarData`	Segment organized 3-D range data into clusters
`segmentGroundFromLidarData`	Segment ground points from organized lidar data
`pcsegdist`	Segment point cloud into clusters based on Euclidean distance

Deep Learning

Load Training Data

`combine`	Combine data from multiple datastores
`countEachLabel`	Count occurrence of pixel or box labels
`groundTruth`	Ground truth label data
`imageDatastore`	Datastore for image data
`pixelLabelDatastore`	Datastore for pixel label data

Augment and Preprocess Training Data

transform Transform datastore

Design Deep Learning Networks

`squeezesegv2Layers`	Create SqueezeSegV2 segmentation network for organized lidar point cloud
`semanticseg`	Semantic image segmentation using deep learning

Visualize Results

`labeloverlay`	Overlay label matrix regions on 2-D image
`pcshow`	Plot 3-D point cloud

Evaluate Results

`evaluateSemanticSegmentation`	Evaluate semantic segmentation data set against ground truth
`segmentationConfusionMatrix`	Confusion matrix of multi-class pixel-level image segmentation

Topics

Getting Started with Point Clouds Using Deep Learning

Understand how to use point clouds for deep learning.

Datastores for Deep Learning (Deep Learning Toolbox)

Learn how to use datastores in deep learning applications.

List of Deep Learning Layers (Deep Learning Toolbox)

Discover all the deep learning layers in MATLAB^®.

Featured Examples

Lidar Point Cloud Semantic Segmentation Using PointSeg Deep Learning Network

Train a PointSeg semantic segmentation network on 3-D organized lidar point cloud data.

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Lidar Point Cloud Semantic Segmentation Using SqueezeSegV2 Deep Learning Network

Train a SqueezeSegV2 semantic segmentation network on 3-D organized lidar point cloud data.

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Code Generation for Lidar Point Cloud Segmentation Network

Generate CUDA® MEX code for a deep learning network for lidar semantic segmentation. This example uses a pretrained SqueezeSegV2 [1] network that can segment organized lidar point clouds belonging to three classes (background, car, and truck). For information on the training procedure for the network, see Lidar Point Cloud Segmentation Using SqueezeSegV2 Deep Learning Network. The generated MEX code takes a point cloud as input and performs prediction on the point cloud by using the DAGNetwork object for the SqueezeSegV2 network.

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Aerial Lidar Semantic Segmentation Using PointNet++ Deep Learning

Train a PointNet++ deep learning network to perform semantic segmentation on aerial lidar data.

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Terrain Classification for Aerial Lidar Data

Segment and classify terrain in aerial lidar data as ground, building, and vegetation. The example uses a LAZ file captured by an airborne lidar system as input. First, classify the point cloud data in the LAZ file into ground and non-ground points. Then, further classify non-ground points into building and vegetation points based on normals and curvature features. This figure provides an overview of the process.

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Lidar Toolbox Documentation

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