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

Abstract

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.

Point cloud refinement with self‐calibration of a mobile multibeam lidar sensor

“…Light detection and ranging (lidar) sensors are useful for many tasks, including mapping (Nuchter et al., ; Ridene and Goulette, ; Tarel et al., ; Serna et al., ; Craciun et al., ), localisation (Narayana et al., ) and autonomous driving (Geiger et al., ). Recently, multibeam lidar sensors have appeared: they are more precise than single‐beam sensors and provide point clouds with a high point density.…”

Feature-Based Quality Evaluation of 3d Point Clouds – Study of the Performance of 3d Registration Algorithms

“…(2) R-ICP, we perform an initialization before the start of the ICP-SA algorithm, using RANSAC. For more details one can refer to [1]. (3) HPS-ICP, we perform an initialization before the start of the algorithm using segmentation of horizontal plans.…”

“…We identify three main classes: (1) Approaches from airborne view via remote sensing; (2) Methods based on Mobile Mapping Systems (MMS) and (3) Methods based on simultaneous poses of fixed laser acquisition. More detailed explanations of these three approaches are given in [1,2,17]. …”