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

• Published in: 2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation pp. 375 - 380
• Main Authors: Ridene, Taha, Goulette, Francois
• Format: Conference Proceeding
• Language: English
• 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
• ISBN: 1424448085; 9781424448081
• DOI: 10.1109/CIRA.2009.5423176

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.