Spherically Stratified Point Projection: Feature Image Generation for Object Classification Using 3D LiDAR Data.

Three-dimensional point clouds have been utilized and studied for the classification of objects at the environmental level. While most existing studies, such as those in the field of computer vision, have detected object type from the perspective of sensors, this study developed a specialized strategy for object classification using LiDAR data points on the surface of the object. We propose a method for generating a spherically stratified point projection (2) feature image that can be applied to existing image-classification networks by performing pointwise classification based on a 3D point cloud using only LiDAR sensors data.