Automated Registration of Unorganised Point Clouds from Terrestrial Laser Scanners
Terrestrial laser scanners provide a three-dimensional sampled representation of the surfaces of objects resulting in a very large number of points. The spatial resolution of the data is much higher than that of conventional surveying methods. Since laser scanners have a limited field of view, in or...
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| Format: | Conference Paper |
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Geomatics International Trading Center
2004
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| Subjects: | |
| Online Access: | 926 http://hdl.handle.net/20.500.11937/17741 |
| _version_ | 1848749544635891712 |
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| author | Bae, Kwang-ho Lichti, Derek |
| author2 | Prof Orhan Altan |
| author_facet | Prof Orhan Altan Bae, Kwang-ho Lichti, Derek |
| author_sort | Bae, Kwang-ho |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | Terrestrial laser scanners provide a three-dimensional sampled representation of the surfaces of objects resulting in a very large number of points. The spatial resolution of the data is much higher than that of conventional surveying methods. Since laser scanners have a limited field of view, in order to obtain a complete representation of an object it is necessary to collect data from several different locations that must be transformed into a common coordinate system. Existing registration methods, such as the Iterative Closest Point (ICP) or Chen and Medioni's method, work well if good a priori alignment is provided. However, in the case of the registration of partially overlapping and unorganised point clouds without good initial alignment, these methods are not appropriate since it become very difficult to find correspondence. A method based on geometric primitives and neighbourhood search is proposed. The change of geometric curvature and approximate normal vector of the surface formed by a point and its neighbourhood are used to determine the possible correspondence of point clouds. Our method is tested with a simulated point cloud with various levels of noise and two real point clouds. |
| first_indexed | 2025-11-14T07:22:38Z |
| format | Conference Paper |
| id | curtin-20.500.11937-17741 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:22:38Z |
| publishDate | 2004 |
| publisher | Geomatics International Trading Center |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-177412018-04-13T06:52:58Z Automated Registration of Unorganised Point Clouds from Terrestrial Laser Scanners Bae, Kwang-ho Lichti, Derek Prof Orhan Altan point clouds three-dimensional automation TLS registration laser scanning Terrestrial laser scanners provide a three-dimensional sampled representation of the surfaces of objects resulting in a very large number of points. The spatial resolution of the data is much higher than that of conventional surveying methods. Since laser scanners have a limited field of view, in order to obtain a complete representation of an object it is necessary to collect data from several different locations that must be transformed into a common coordinate system. Existing registration methods, such as the Iterative Closest Point (ICP) or Chen and Medioni's method, work well if good a priori alignment is provided. However, in the case of the registration of partially overlapping and unorganised point clouds without good initial alignment, these methods are not appropriate since it become very difficult to find correspondence. A method based on geometric primitives and neighbourhood search is proposed. The change of geometric curvature and approximate normal vector of the surface formed by a point and its neighbourhood are used to determine the possible correspondence of point clouds. Our method is tested with a simulated point cloud with various levels of noise and two real point clouds. 2004 Conference Paper http://hdl.handle.net/20.500.11937/17741 926 http://www.isprs.org/proceedings/XXXV/congress/comm5/papers/553.pdf Geomatics International Trading Center restricted |
| spellingShingle | point clouds three-dimensional automation TLS registration laser scanning Bae, Kwang-ho Lichti, Derek Automated Registration of Unorganised Point Clouds from Terrestrial Laser Scanners |
| title | Automated Registration of Unorganised Point Clouds from Terrestrial Laser Scanners |
| title_full | Automated Registration of Unorganised Point Clouds from Terrestrial Laser Scanners |
| title_fullStr | Automated Registration of Unorganised Point Clouds from Terrestrial Laser Scanners |
| title_full_unstemmed | Automated Registration of Unorganised Point Clouds from Terrestrial Laser Scanners |
| title_short | Automated Registration of Unorganised Point Clouds from Terrestrial Laser Scanners |
| title_sort | automated registration of unorganised point clouds from terrestrial laser scanners |
| topic | point clouds three-dimensional automation TLS registration laser scanning |
| url | 926 926 http://hdl.handle.net/20.500.11937/17741 |