Compressing and Recovering Short-Range MEMS-Based LiDAR Point Clouds Based on Adaptive Clustered Compressive Sensing and Application to 3D Rock Fragment Surface Point Clouds

Abstract

Short-range MEMS-based (Micro Electronical Mechanical System) LiDAR provides precise point cloud datasets for rock fragment surfaces. However, there is more vibrational noise in MEMS-based LiDAR signals, which cannot guarantee that the reconstructed point cloud data are not distorted with a high compression ratio. Many studies have illustrated that wavelet-based clustered compressive sensing can improve reconstruction precision. The k-means clustering algorithm can be conveniently employed to obtain clusters; however, estimating a meaningful k value (i.e., the number of clusters) is challenging. An excessive quantity of clusters is not necessary for dense point clouds, as this leads to elevated consumption of memory and CPU resources. For sparser point clouds, fewer clusters lead to more distortions, while excessive clusters lead to more voids in reconstructed point clouds. This study proposes a local clustering method to determine a number of clusters closer to the actual number based on GMM (Gaussian Mixture Model) observation distances and density peaks. Experimental results illustrate that the estimated number of clusters is closer to the actual number in four datasets from the KEEL public repository. In point cloud compression and recovery experiments, our proposed approach compresses and recovers the Bunny and Armadillo datasets in the Stanford 3D repository; the experimental results illustrate that our proposed approach improves reconstructed point clouds’ geometry and curvature similarity. Furthermore, the geometric similarity increases to 0.9 above in our complete rock fragment surface datasets after selecting a better wavelet basis for each dimension of MEMS-based LiDAR signals. In both experiments, the sparsity of signals was 0.8 and the sampling ratio was 0.4. Finally, a rock outcrop point cloud data experiment is utilized to verify that the proposed approach is applicable for large-scale research objects. All of our experiments illustrate that the proposed adaptive clustered compressive sensing approach can better reconstruct MEMS-based LiDAR point clouds with a lower sampling ratio.