Through the Perspective of LiDAR: A Feature-Enriched and Uncertainty-Aware Annotation Pipeline for Terrestrial Point Cloud Segmentation
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arXiv
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| Autores principales: | , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866910016029589504 |
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| author | Zhang, Fei Chancia, Rob Clapp, Josie Hassanzadeh, Amirhossein Dera, Dimah MacKenzie, Richard van Aardt, Jan |
| author_facet | Zhang, Fei Chancia, Rob Clapp, Josie Hassanzadeh, Amirhossein Dera, Dimah MacKenzie, Richard van Aardt, Jan |
| contents | Accurate semantic segmentation of terrestrial laser scanning (TLS) point clouds is limited by costly manual annotation. We propose a semi-automated, uncertainty-aware pipeline that integrates spherical projection, feature enrichment, ensemble learning, and targeted annotation to reduce labeling effort, while sustaining high accuracy. Our approach projects 3D points to a 2D spherical grid, enriches pixels with multi-source features, and trains an ensemble of segmentation networks to produce pseudo-labels and uncertainty maps, the latter guiding annotation of ambiguous regions. The 2D outputs are back-projected to 3D, yielding densely annotated point clouds supported by a three-tier visualization suite (2D feature maps, 3D colorized point clouds, and compact virtual spheres) for rapid triage and reviewer guidance. Using this pipeline, we build Mangrove3D, a semantic segmentation TLS dataset for mangrove forests. We further evaluate data efficiency and feature importance to address two key questions: (1) how much annotated data are needed and (2) which features matter most. Results show that performance saturates after ~12 annotated scans, geometric features contribute the most, and compact nine-channel stacks capture nearly all discriminative power, with the mean Intersection over Union (mIoU) plateauing at around 0.76. Finally, we confirm the generalization of our feature-enrichment strategy through cross-dataset tests on ForestSemantic and Semantic3D.
Our contributions include: (i) a robust, uncertainty-aware TLS annotation pipeline with visualization tools; (ii) the Mangrove3D dataset; and (iii) empirical guidance on data efficiency and feature importance, thus enabling scalable, high-quality segmentation of TLS point clouds for ecological monitoring and beyond. The dataset and processing scripts are publicly available at https://fz-rit.github.io/through-the-lidars-eye/. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_06582 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Through the Perspective of LiDAR: A Feature-Enriched and Uncertainty-Aware Annotation Pipeline for Terrestrial Point Cloud Segmentation Zhang, Fei Chancia, Rob Clapp, Josie Hassanzadeh, Amirhossein Dera, Dimah MacKenzie, Richard van Aardt, Jan Computer Vision and Pattern Recognition Robotics Accurate semantic segmentation of terrestrial laser scanning (TLS) point clouds is limited by costly manual annotation. We propose a semi-automated, uncertainty-aware pipeline that integrates spherical projection, feature enrichment, ensemble learning, and targeted annotation to reduce labeling effort, while sustaining high accuracy. Our approach projects 3D points to a 2D spherical grid, enriches pixels with multi-source features, and trains an ensemble of segmentation networks to produce pseudo-labels and uncertainty maps, the latter guiding annotation of ambiguous regions. The 2D outputs are back-projected to 3D, yielding densely annotated point clouds supported by a three-tier visualization suite (2D feature maps, 3D colorized point clouds, and compact virtual spheres) for rapid triage and reviewer guidance. Using this pipeline, we build Mangrove3D, a semantic segmentation TLS dataset for mangrove forests. We further evaluate data efficiency and feature importance to address two key questions: (1) how much annotated data are needed and (2) which features matter most. Results show that performance saturates after ~12 annotated scans, geometric features contribute the most, and compact nine-channel stacks capture nearly all discriminative power, with the mean Intersection over Union (mIoU) plateauing at around 0.76. Finally, we confirm the generalization of our feature-enrichment strategy through cross-dataset tests on ForestSemantic and Semantic3D. Our contributions include: (i) a robust, uncertainty-aware TLS annotation pipeline with visualization tools; (ii) the Mangrove3D dataset; and (iii) empirical guidance on data efficiency and feature importance, thus enabling scalable, high-quality segmentation of TLS point clouds for ecological monitoring and beyond. The dataset and processing scripts are publicly available at https://fz-rit.github.io/through-the-lidars-eye/. |
| title | Through the Perspective of LiDAR: A Feature-Enriched and Uncertainty-Aware Annotation Pipeline for Terrestrial Point Cloud Segmentation |
| topic | Computer Vision and Pattern Recognition Robotics |
| url | https://arxiv.org/abs/2510.06582 |