Ground Extraction from 3D Lidar Point Clouds

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works Pomares, A., Martínez, J.L., Mandow, A., Martínez, M.A., Morán, M., Morales, J. Ground extraction from 3D lidar point clouds with the Classification Learner App (2018) 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, June 2018, pp.400-405. DOI: PendingGround extraction from three-dimensional (3D) range data is a relevant problem for outdoor navigation of unmanned ground vehicles. Even if this problem has received attention with specific heuristics and segmentation approaches, identification of ground and non-ground points can benefit from state-of-the-art classification methods, such as those included in the Matlab Classification Learner App. This paper proposes a comparative study of the machine learning methods included in this tool in terms of training times as well as in their predictive performance. With this purpose, we have combined three suitable features for ground detection, which has been applied to an urban dataset with several labeled 3D point clouds. Most of the analyzed techniques achieve good classification results, but only a few offer low training and prediction times.This work was partially supported by the Spanish project DPI 2015- 65186-R. The publication has received support from Universidad de Málaga, Campus de Excelencia Andalucía Tech

Gaussian process tomography for soft x-ray spectroscopy at WEST without equilibrium information

International audienceGaussian process tomography (GPT) is a recently developed tomography method based on the Bayesian probability theory [J. Svensson, JET Internal Report EFDA-JET-PR(11)24, 2011 and Li et al., Rev. Sci. Instrum. 84, 083506 (2013)]. By modeling the soft X-ray (SXR) emissivity field in a poloidal cross section as a Gaussian process, the Bayesian SXR tomography can be carried out in a robust and extremely fast way. Owing to the short execution time of the algorithm, GPT is an important candidate for providing real-time reconstructions with a view to impurity transport and fast magnetohydrodynamic control. In addition, the Bayesian formalism allows quantifying uncertainty on the inferred parameters. In this paper, the GPT technique is validated using a synthetic data set expected from the WEST tokamak, and the results are shown of its application to the reconstruction of SXR emissivity profiles measured on Tore Supra. The method is compared with the standard algorithm based on minimization of the Fisher information