Registration of fixed-and-mobile- based terrestrial Laser data sets with DSM

This study tackles the production of 3D realistic map databases for outdoor environments. An approach based on the fusion of heterogeneous 3D representations was studied. We propose a variant of ICP (Iterative Closest Point) based on an adaptive dynamic threshold and a RANSAC removing outliers proce...

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Bibliographic Details
Published in2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA) pp. 375 - 380
Main Authors Ridene, Taha, Goulette, Francois
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2009
Subjects
3D Registration
Clouds
Coherence
DSM
ICP
Iterative closest point algorithm
Laser fusion
Laser modes
Mobile Mapping Systems
Point Clouds
Production
RANSAC
Surface emitting lasers
Surface treatment
System testing
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Summary:This study tackles the production of 3D realistic map databases for outdoor environments. An approach based on the fusion of heterogeneous 3D representations was studied. We propose a variant of ICP (Iterative Closest Point) based on an adaptive dynamic threshold and a RANSAC removing outliers process. An application of our approach was tested on two scenarios: a registration of point clouds obtained by a fixed terrestrial 3D Laser on a 2.5D data Digital Model of Surface (DSM), and the registration of point clouds obtained by a Mobile Mapping System (MMS) on DSM. The objective is to obtain coherence of a homogeneous 3D representation, which will be the input of the following processing step: 3D modeling. We treat various scenarios of registration which were specified; the algorithm exploits specific pre-processing dedicated to the studied use-cases.
ISBN:1424448085
9781424448081
DOI:10.1109/CIRA.2009.5423176