CLOI-NET: Class segmentation of industrial facilities' point cloud datasets

Shape segmentation from point cloud data is a core step of the digital twinning process for industrial facilities. However, it is also a very labor intensive step, which counteracts the perceived value of the resulting model. The state-of-the-art method for automating cylinder detection can detect cylinders with 62% precision and 70% recall, while other shapes must then be segmented manually and shape segmentation is not achieved. This performance is promising, but it is far from drastically eliminating the manual labor cost. We argue that the use of class segmentation deep learning algorithms has the theoretical potential to perform better in terms of per point accuracy and less manual segmentation time needed. However, such algorithms could not be used so far due to the lack of a pre-trained dataset of laser scanned industrial shapes as well as the lack of appropriate geometric features in order to learn these shapes. In this paper, we tackle both problems in three steps. First, we parse the industrial point cloud through a novel class segmentation solution (CLOI-NET) that consists of an optimized PointNET++ based deep learning network and post-processing algorithms that enforce stronger contextual relationships per point. We then allow the user to choose the optimal manual annotation of a test facility by means of active learning to further improve the results. We achieve the first step by clustering points in meaningful spatial 3D windows based on their location. Then, we apply a class segmentation deep network, and output a probability distribution of all label categories per point and improve the predicted labels by enforcing post-processing rules. We finally optimize the results by finding the optimal amount of data to be used for training experiments. We validate our method on the largest richly annotated dataset of the most important to model industrial shapes (CLOI) and yield 82% average accuracy per point, 95.6% average AUC among all classes and estimated 70% labor hour savings in class segmentation. This proves that it is the first to automatically segment industrial point cloud shapes with no prior knowledge at commercially viable performance and is the foundation for efficient industrial shape modeling in cluttered point clouds

CLOI: A Shape Classification Benchmark Dataset for Industrial Facilities

Generation of digital models of existing industrial facilities is labor intensive and expensive. The use of state-of-the-art deep learning algorithms can assist to reduce the modelling time and cost. However large databases of labelled, laser-scanned industrial facilities do not exist to date, henceforth training of deep learning models is not possible. Our paper solves this problem by proposing a new benchmark dataset, which consists of five labelled industrial plants. The labelling schema that we followed for the generation of this dataset is based on the frequency of appearance of industrial object types. We labelled the ten most frequent industrial object shapes as identified in previous work. We present CLOI (Channels, L-shapes, circular sections, I-shapes): a richly annotated large-scale repository of shapes represented by labelled point clusters. CLOI has more than 140 million hand labelled points and serves as the foundation for researchers who are interested in automated modelling of industrial assets using deep learning algorithms

Centrifuge Testing of Circular and Rectangular Embedded Structures with Base Excitations

We present data and metadata from a centrifuge testing program that was designed to investigate the seismic responses of buried circular and rectangular culverts. The specimen configurations were based on Caltrans Standard Plans, and the scope of research was to compare the experimental findings with the design method described in the NCHRP Report 611 as well as to formulate preliminary recommendations for Caltrans practice. A relatively flexible pipe and a stiff box-shaped specimen embedded in dense sand were tested in the centrifuge at the Center for Geotechnical Modeling at University of California, Davis and were subjected to a set of broadband and harmonic input motions. Responses were recorded in the soil and in the embedded structures using a dense array of instruments. Measured quantities included specimen accelerations, bending strains, and hoop strains; soil accelerations, shear-wave velocities, settlements, and lateral displacements; and accelerations of the centrifuge's shaking table. This data paper describes the tests and summarizes the generated data, which are archived at DesignSafe.ci.org (DOI: 10.17603/DS2XW9R) and are accessible through an interactive Jupyter notebook

CLOI: An Automated Benchmark Framework for Generating Geometric Digital Twins of Industrial Facilities

This paper devises, implements and benchmarks a novel framework, named CLOI, that can accurately generate individual labelled point clusters of the most important shapes of existing industrial facilities with minimal manual effort in a generic point-level format. CLOI employs a combination of deep learning and geometric methods to segment the points into classes and individual instances. The current geometric digital twin generation from point cloud data in commercial software is a tedious, manual process. Experiments with our CLOI framework reveal that the method can reliably segment complex and incomplete point clouds of industrial facilities, yielding 82% class segmentation accuracy. Compared to the current state-of-practice, the proposed framework can realize estimated time-savings of 30% on average. CLOI is the first framework of its kind to have achieved geometric digital twinning for the most important objects of industrial factories. It provides the foundation for further research on the generation of semantically enriched digital twins of the built environment.AVEV

CLOI: An Automated Benchmark Framework for Generating Geometric Digital Twins of Industrial Facilities

This paper devises, implements and benchmarks a novel framework, named CLOI, that can accurately generate individual labelled point clusters of the most important shapes of existing industrial facilities with minimal manual effort in a generic point-level format. CLOI employs a combination of deep learning and geometric methods to segment the points into classes and individual instances. The current geometric digital twin generation from point cloud data in commercial software is a tedious, manual process. Experiments with our CLOI framework reveal that the method can reliably segment complex and incomplete point clouds of industrial facilities, yielding 82% class segmentation accuracy. Compared to the current state-of-practice, the proposed framework can realize estimated time-savings of 30% on average. CLOI is the first framework of its kind to have achieved geometric digital twinning for the most important objects of industrial factories. It provides the foundation for further research on the generation of semantically enriched digital twins of the built environment.AVEV

Instance Segmentation of Industrial Point Cloud Data

The challenge that this paper addresses is how to efficiently minimize the cost and manual labour for automatically generating object oriented geometric Digital Twins (gDTs) of industrial facilities, so that the benefits provide even more value compared to the initial investment to generate these models. Our previous work achieved the current state-of-the-art class segmentation performance (75% average accuracy per point and average AUC 90% in the CLOI dataset classes) as presented in (Agapaki and Brilakis 2020) and directly produces labelled point clusters of the most important to model objects (CLOI classes) from laser scanned industrial data. CLOI stands for C-shapes, L-shapes, O-shapes, I-shapes and their combinations. However, the problem of automated segmentation of individual instances that can then be used to fit geometric shapes remains unsolved. We argue that the use of instance segmentation algorithms has the theoretical potential to provide the output needed for the generation of gDTs. We solve instance segmentation in this paper through (a) using a CLOI-Instance graph connectivity algorithm that segments the point clusters of an object class into instances and (b) boundary segmentation of points that improves step (a). Our method was tested on the CLOI benchmark dataset (Agapaki et al. 2019) and segmented instances with 76.25% average precision and 70% average recall per point among all classes. This proved that it is the first to automatically segment industrial point cloud shapes with no prior knowledge other than the class point label and is the bedrock for efficient gDT generation in cluttered industrial point clouds.EPSRC DTA scholarship RG83104 RG9053

CLOI: An Automated Benchmark Framework for Generating Geometric Digital Twins of Industrial Facilities

This paper devises, implements and benchmarks a novel framework, named CLOI, that can accurately generate individual labelled point clusters of the most important shapes of existing industrial facilities with minimal manual effort in a generic point-level format. CLOI employs a combination of deep learning and geometric methods to segment the points into classes and individual instances. The current geometric digital twin generation from point cloud data in commercial software is a tedious, manual process. Experiments with our CLOI framework reveal that the method can reliably segment complex and incomplete point clouds of industrial facilities, yielding 82% class segmentation accuracy. Compared to the current state-of-practice, the proposed framework can realize estimated time-savings of 30% on average. CLOI is the first framework to have achieved geometric digital twinning for the most important objects of industrial factories and provides the foundation for the generation of semantically enriched industrial digital twins