On-the-Fly Spatio-Temporal Human Segmentation of 3D Point Cloud Data By Micro-Size LiDAR

The technology of 3D recognition is evolving rapidly, enabling unprecedented growth of applications towards human-centric intelligent environments. On top of these applications human segmentation is a key technology towards analyzing and understanding human mobility in those environments. However, existing segmentation techniques rely on deep learning models, which are computationally intensive and data-hungry solutions. This hinders their practical deployment on edge devices in realistic environments. In this paper, we introduce a novel micro-size LiDAR device for understanding human mobility in the surrounding environment. The device is supplied with an on-device lightweight human segmentation technique for the captured 3D point cloud data using density-based clustering. The proposed technique significantly reduces the computational complexity of the clustering algorithm by leveraging the Spatiotemporal relation between consecutive frames. We implemented and evaluated the proposed technique in a real-world environment. The results show that the proposed technique obtains a human segmentation accuracy of 99% with a drastic reduction of the processing time by 66%.