{"id":1701,"date":"2024-09-17T21:07:06","date_gmt":"2024-09-17T21:07:06","guid":{"rendered":"https:\/\/sbia.org.br\/lnlm\/?page_id=1701"},"modified":"2024-09-17T21:19:51","modified_gmt":"2024-09-17T21:19:51","slug":"vol22-no1-art4","status":"publish","type":"page","link":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/","title":{"rendered":"LIDAR3DNETV2: Smart Approach to Classify 3D Objects Based on Real Point Clouds"},"content":{"rendered":"<p>I\u00e1gson Carlos L. Silva <a href=\"https:\/\/orcid.org\/0009-0005-3595-6680\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1167\" src=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\" alt=\"orcid\" width=\"20\" height=\"20\" \/><\/a>, Jos\u00e9 Carlos L. Moreira <a href=\"https:\/\/orcid.org\/0009-0009-2513-5255\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1167\" src=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\" alt=\"orcid\" width=\"20\" height=\"20\" \/><\/a>, Francisco H\u00e9rcules dos S. Silva <a href=\"https:\/\/orcid.org\/0000-0001-6833-9818\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1167\" src=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\" alt=\"orcid\" width=\"20\" height=\"20\" \/><\/a>, Suane Pires P. da Silva <a href=\"https:\/\/orcid.org\/0009-0002-5071-7109\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1167\" src=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\" alt=\"orcid\" width=\"20\" height=\"20\" \/><\/a>, Pedro P. Rebou\u00e7as Filho <a href=\"https:\/\/orcid.org\/0000-0002-1878-5489\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1167\" src=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\" alt=\"orcid\" width=\"20\" height=\"20\" \/><\/a>, &amp; Pedro H. Feij\u00f3 de Sousa <a href=\"https:\/\/orcid.org\/0000-0002-6911-1505\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1167\" src=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\" alt=\"orcid\" width=\"20\" height=\"20\" \/><\/a><\/p>\n<p><strong>Abstract:<\/strong> Point clouds generated in simulators avoid collection time costs and provide a high and organized amount of point clouds, an ideal scenario for deep learning networks. However, these networks have limitations when applied to real point clouds. This work proposes a multilayer perceptron-based method to classify 3D objects based on real point clouds obtained using LiDAR sensors. The method includes a pre-processing step that normalizes and adjusts the point clouds in the 3D Cartesian plane to overcome discrepancies in the point distribution. Furthermore, we created a dataset and used the ModelNet dataset for comparison purposes. The proposed neural network, Lidar3DNetV2, achieved 98.47% and 125 \u03bcs in accuracy and test time with real data, respectively. The pre-processing step provided a significant increase in the classifier\u2019s performance. Finally, the proposed method performs better than other state-of-the-art networks considering real point clouds.<\/p>\n<p><strong>Keywords:<\/strong> Point Cloud, Machine Learning, 3D Object Classification, LiDAR.<\/p>\n<p><strong>DOI code:<\/strong> <a href=\"http:\/\/dx.doi.org\/10.21528\/lnlm-vol22-no1-art4\">10.21528\/lnlm-vol22-no1-art4<\/a><\/p>\n<p><strong>PDF file:<\/strong> <a href=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2024\/12\/vol22-no1-art4.pdf\">vol22-no1-art4.pdf<\/a><\/p>\n<p><strong>BibTex file:<\/strong> <a href=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2024\/12\/vol22-no1-art4.bib\">vol22-no1-art4.bib<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>I\u00e1gson Carlos L. Silva , Jos\u00e9 Carlos L. Moreira , Francisco H\u00e9rcules dos S. Silva , Suane Pires P. da Silva , Pedro P. Rebou\u00e7as Filho , &amp; Pedro H. Feij\u00f3 de Sousa Abstract: Point clouds generated in simulators avoid <a href=\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/\" class=\"read-more\">Read More &#8230;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":1675,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-1701","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.9 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>LIDAR3DNETV2: Smart Approach to Classify 3D Objects Based on Real Point Clouds - Learning and NonLinear Models<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/\" \/>\n<meta property=\"og:locale\" content=\"pt_BR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"LIDAR3DNETV2: Smart Approach to Classify 3D Objects Based on Real Point Clouds - Learning and NonLinear Models\" \/>\n<meta property=\"og:description\" content=\"I\u00e1gson Carlos L. Silva , Jos\u00e9 Carlos L. Moreira , Francisco H\u00e9rcules dos S. Silva , Suane Pires P. da Silva , Pedro P. Rebou\u00e7as Filho , &amp; Pedro H. Feij\u00f3 de Sousa Abstract: Point clouds generated in simulators avoid Read More ...\" \/>\n<meta property=\"og:url\" content=\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/\" \/>\n<meta property=\"og:site_name\" content=\"Learning and NonLinear Models\" \/>\n<meta property=\"article:modified_time\" content=\"2024-09-17T21:19:51+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Est. tempo de leitura\" \/>\n\t<meta name=\"twitter:data1\" content=\"2 minutos\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/\",\"url\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/\",\"name\":\"LIDAR3DNETV2: Smart Approach to Classify 3D Objects Based on Real Point Clouds - Learning and NonLinear Models\",\"isPartOf\":{\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/#primaryimage\"},\"image\":{\"@id\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/#primaryimage\"},\"thumbnailUrl\":\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\",\"datePublished\":\"2024-09-17T21:07:06+00:00\",\"dateModified\":\"2024-09-17T21:19:51+00:00\",\"breadcrumb\":{\"@id\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/#breadcrumb\"},\"inLanguage\":\"pt-BR\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"pt-BR\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/#primaryimage\",\"url\":\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\",\"contentUrl\":\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\"},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Browse issues\",\"item\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Learning &#038; Nonlinear Models &#8211; L&#038;NLM &#8211; Volume 22 &#8211; N\u00famero 1\",\"item\":\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/\"},{\"@type\":\"ListItem\",\"position\":3,\"name\":\"LIDAR3DNETV2: Smart Approach to Classify 3D Objects Based on Real Point Clouds\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#website\",\"url\":\"https:\/\/sbia.org.br\/lnlm\/\",\"name\":\"Learning and NonLinear Models\",\"description\":\"\",\"publisher\":{\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#organization\"},\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/sbia.org.br\/lnlm\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"pt-BR\"},{\"@type\":\"Organization\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#organization\",\"name\":\"Learning and NonLinear Models\",\"url\":\"https:\/\/sbia.org.br\/lnlm\/\",\"logo\":{\"@type\":\"ImageObject\",\"inLanguage\":\"pt-BR\",\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#\/schema\/logo\/image\/\",\"url\":\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2021\/07\/logo-lnlm.png\",\"contentUrl\":\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2021\/07\/logo-lnlm.png\",\"width\":398,\"height\":94,\"caption\":\"Learning and NonLinear Models\"},\"image\":{\"@id\":\"https:\/\/sbia.org.br\/lnlm\/#\/schema\/logo\/image\/\"}}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"LIDAR3DNETV2: Smart Approach to Classify 3D Objects Based on Real Point Clouds - Learning and NonLinear Models","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/","og_locale":"pt_BR","og_type":"article","og_title":"LIDAR3DNETV2: Smart Approach to Classify 3D Objects Based on Real Point Clouds - Learning and NonLinear Models","og_description":"I\u00e1gson Carlos L. Silva , Jos\u00e9 Carlos L. Moreira , Francisco H\u00e9rcules dos S. Silva , Suane Pires P. da Silva , Pedro P. Rebou\u00e7as Filho , &amp; Pedro H. Feij\u00f3 de Sousa Abstract: Point clouds generated in simulators avoid Read More ...","og_url":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/","og_site_name":"Learning and NonLinear Models","article_modified_time":"2024-09-17T21:19:51+00:00","og_image":[{"url":"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg","type":"","width":"","height":""}],"twitter_card":"summary_large_image","twitter_misc":{"Est. tempo de leitura":"2 minutos"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/","url":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/","name":"LIDAR3DNETV2: Smart Approach to Classify 3D Objects Based on Real Point Clouds - Learning and NonLinear Models","isPartOf":{"@id":"https:\/\/sbia.org.br\/lnlm\/#website"},"primaryImageOfPage":{"@id":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/#primaryimage"},"image":{"@id":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/#primaryimage"},"thumbnailUrl":"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg","datePublished":"2024-09-17T21:07:06+00:00","dateModified":"2024-09-17T21:19:51+00:00","breadcrumb":{"@id":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/#breadcrumb"},"inLanguage":"pt-BR","potentialAction":[{"@type":"ReadAction","target":["https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/"]}]},{"@type":"ImageObject","inLanguage":"pt-BR","@id":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/#primaryimage","url":"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg","contentUrl":"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg"},{"@type":"BreadcrumbList","@id":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art4\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"Browse issues","item":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/"},{"@type":"ListItem","position":2,"name":"Learning &#038; Nonlinear Models &#8211; L&#038;NLM &#8211; Volume 22 &#8211; N\u00famero 1","item":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/"},{"@type":"ListItem","position":3,"name":"LIDAR3DNETV2: Smart Approach to Classify 3D Objects Based on Real Point Clouds"}]},{"@type":"WebSite","@id":"https:\/\/sbia.org.br\/lnlm\/#website","url":"https:\/\/sbia.org.br\/lnlm\/","name":"Learning and NonLinear Models","description":"","publisher":{"@id":"https:\/\/sbia.org.br\/lnlm\/#organization"},"potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/sbia.org.br\/lnlm\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"pt-BR"},{"@type":"Organization","@id":"https:\/\/sbia.org.br\/lnlm\/#organization","name":"Learning and NonLinear Models","url":"https:\/\/sbia.org.br\/lnlm\/","logo":{"@type":"ImageObject","inLanguage":"pt-BR","@id":"https:\/\/sbia.org.br\/lnlm\/#\/schema\/logo\/image\/","url":"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2021\/07\/logo-lnlm.png","contentUrl":"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2021\/07\/logo-lnlm.png","width":398,"height":94,"caption":"Learning and NonLinear Models"},"image":{"@id":"https:\/\/sbia.org.br\/lnlm\/#\/schema\/logo\/image\/"}}]}},"_links":{"self":[{"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/pages\/1701","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/comments?post=1701"}],"version-history":[{"count":3,"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/pages\/1701\/revisions"}],"predecessor-version":[{"id":1706,"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/pages\/1701\/revisions\/1706"}],"up":[{"embeddable":true,"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/pages\/1675"}],"wp:attachment":[{"href":"https:\/\/sbia.org.br\/lnlm\/wp-json\/wp\/v2\/media?parent=1701"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}