Real Time LiDAR Point Cloud Compression and Transmission for Intelligent Transportation System

Real-time data transmission is one of the challenging tasks for LiDAR (Light Detection and Ranging) based applications. These applications are becoming more popular in the field of Surveying and Intelligent Transportation System (ITS). The size of Point cloud data (pcd files) generated by LiDAR is generally quite large. In this paper, a real-time Point cloud transmission over Wi-Fi is suggested. Also in order to avoid the transmission of huge data, an Octree-based Point cloud Compression technique is used. This Compression technique is provided by Point cloud Library (PCL). We encode the Point clouds into text files of much lower size as compared to pcd file size. Instead of sending the Point cloud data we send the text files which is further decoded on the receiver side. The preliminary experimental results show that this method has the potential to be used for an exchange of information (3-D view or Point cloud) between two vehicles for Intelligent Transportation System.