Joint combination of point cloud and DSM for 3D building reconstruction using airborne laser scanner data

Tarsha-Kurdi, Fayez; Landes, Tania; Grussenmeyer, Pierre

doi:10.1109/urs.2007.371843

Cited by 35 publications

(37 citation statements)

References 5 publications

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“…This section of poles can be coupled together as virtual lines so the robot can navigate by following the generated trajectory between them as illustrated in Figure . A RANSAC algorithm (Tarsha‐Kurdi, Landes, & Grussenmeyer, ) is implemented to fit a pair of poles as individual line features

l_{n}

. Unlike the solid walls, the laser scanner observes the poles in the polytunnels as a cluster of points at equal distant from each other.…”

Section: Navigation Inside a Polytunnelmentioning

confidence: 99%

A low‐cost and efficient autonomous row‐following robot for food production in polytunnels

Ponnambalam

Gjevestad

et al. 2019

Journal of Field Robotics

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In this paper, we present an automatic motion planner for agricultural robots that allows us to set up a robot to follow rows without having to explicitly enter waypoints. In most cases, when robots are used to cover large agricultural areas, they will need waypoints as inputs, either as premeasured coordinates in an outdoor environment, or as positions in a map in an indoor environment. This can be a tedious process as several hundreds or even thousands of waypoints will be needed for large farms. In particular, we find that in unstructured environments such as the ones found on farms, the need for waypoints increases. In this paper, we present an approach that enables robots to safely traverse not only between straight rows but also through curved rows without the need for any predetermined waypoints. Most types of infrastructure found in agriculture, such as polytunnels, are built on uneven terrain, thus containing a mix of straight and curved plant rows, for which traditional methods of row following will fail. Different from traditional approaches of row following that only consider straight‐line‐of‐sight rows, our approach identifies the rows on each side with the goal of staying in the middle of the rows, even if the rows are not straight. Waypoints are only needed on the very extreme of the rows, and these will be automatically generated by the system. With our approach, the robot can just be placed in the corner of the field and will then determine the trajectory without further input from the user. We thus obtain an approach that can reduce the installation time from potentially hours to just a matter of minutes. The final autonomous system is low cost and efficient for various tasks that requires moving between plant rows inside a polytunnel. Several experiments were performed and the robot demonstrates 1.4% position drift over 21 m of navigation path.

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l_{n}

. Unlike the solid walls, the laser scanner observes the poles in the polytunnels as a cluster of points at equal distant from each other.…”

Section: Navigation Inside a Polytunnelmentioning

confidence: 99%

A low‐cost and efficient autonomous row‐following robot for food production in polytunnels

Ponnambalam

Gjevestad

et al. 2019

Journal of Field Robotics

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“…In most cases, a pre-processing is carried out to separate ground points from above-ground points. In general, we can distinguish between model-driven and data-driven approaches (e.g., Tarsha-Kurdi et al [6,7]). …”

Section: Roof Plane Extractionmentioning

confidence: 99%

Quality Assessment of Roof Planes Extracted from Height Data for Solar Energy Systems by the EAGLE Platform

et al. 2015

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Due to the increasing scarcity of fossil fuels and the upwards trend in energy costs over time, many countries-especially in Europe-have begun to modify their energy policies aiming to increase that percentage obtained from renewable energies. The EAGLE (FP7 program, European Commission) has developed a web-based platform to promote renewable energy systems (RES) in the public and private sectors, and to deliver a comprehensive information source for all interested users. In this paper, a comprehensive quality assessment of extracted roof planes suitable for solar energy installations (photovoltaic, solar thermal) from height data derived automatically from both LiDAR (Light Detection and Ranging) and aerial images will be presented. A shadow analysis is performed regarding the daily path of the sun including the shading effects of nearby objects (chimneys, dormers, vegetation, buildings, topography, etc.). A quality assessment was carried out for both LiDAR and aerial images of the same test sites in UK and Germany concerning building outline accuracy, extraction rate of roof planes and the accuracy of their geometric parameters (inclination and aspect angle, size). The benefit is an optimized system to extract roof planes for RES with a high level of detail, accuracy and flexibility (concerning different commonly available data sources) including an estimation of quality of the results which is important for individual house owners as well as for regional applications by governments or solar energy companies to judge their usefulness.

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“…Satellite images (Lafarge et al, 2006;Xiao et al, 2004), aerial images (Wang et al, 2008), and airborne Light Detection and Ranging (LIDAR) data (Rottensteiner et al, 2005;Verma et al, 2006;Tarsha-Kurdi et al, 2007;Tolt and Ahlberg, 2007;Poullis and You, 2009) were used to efficiently obtain 3D information on large scales. However, those global 3D models do not have enough accuracy of the 3D information of urban infrastructure.…”

Section: Literature Reviewmentioning

confidence: 99%

An automated system for the creation of an urban infrastructure 3D model using image processing techniques

Zou

Kim

et al. 2011

KSCE J Civ Eng

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Image database creation for infrastructure management is an interdisciplinary endeavor in computer vision, database, and structural engineering. In response to increasing demands for multimedia information in infrastructure management, image databases are becoming an ever more active research area. This paper proposes an automated system for creating an urban infrastructure 3D model using an image database; the system is built by images shot in public areas to record changes of urban infrastructure in threedimensional (3D) space, such as the addition of new buildings, new overpasses, loss of traffic signs, and growth/change of trees. The system architecture is presented with an emphasis on a 3D information capture and extraction module. Initial experiments with the 3D information capture module show that the proposed system has the potential to efficiently develop a large-scale 3D model of the streets of a municipality.

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Joint combination of point cloud and DSM for 3D building reconstruction using airborne laser scanner data

Cited by 35 publications

References 5 publications

A low‐cost and efficient autonomous row‐following robot for food production in polytunnels

A low‐cost and efficient autonomous row‐following robot for food production in polytunnels

Quality Assessment of Roof Planes Extracted from Height Data for Solar Energy Systems by the EAGLE Platform

An automated system for the creation of an urban infrastructure 3D model using image processing techniques

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