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

Taha Ridene; François Goulette

doi:10.1109/CIRA.2009.5423176

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

Taha Ridene
, François Goulette

Mines ParisTech

Research output: Contribution to conference › Paper › peer-review

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 .xed 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 speci.c pre-processing dedicated to the studied use-cases.

Original language	English
Pages	375-380
Number of pages	6
DOIs	https://doi.org/10.1109/CIRA.2009.5423176
Publication status	Published - 1 Dec 2009
Externally published	Yes
Event	2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2009 - Daejeon, Korea, Republic of Duration: 15 Dec 2009 → 18 Dec 2009

Conference

Conference	2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2009
Country/Territory	Korea, Republic of
City	Daejeon
Period	15/12/09 → 18/12/09

Keywords

3D Registration
DSM
ICP
Mobile Mapping Systems
Point Clouds
RANSAC

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10.1109/CIRA.2009.5423176

Cite this

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title = "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 .xed 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 speci.c pre-processing dedicated to the studied use-cases.",

keywords = "3D Registration, DSM, ICP, Mobile Mapping Systems, Point Clouds, RANSAC",

author = "Taha Ridene and Fran{\c c}ois Goulette",

year = "2009",

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day = "1",

doi = "10.1109/CIRA.2009.5423176",

language = "English",

pages = "375--380",

note = "2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2009 ; Conference date: 15-12-2009 Through 18-12-2009",

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AU - Ridene, Taha

AU - Goulette, François

PY - 2009/12/1

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N2 - 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 .xed 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 speci.c pre-processing dedicated to the studied use-cases.

AB - 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 .xed 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 speci.c pre-processing dedicated to the studied use-cases.

KW - 3D Registration

KW - DSM

KW - ICP

KW - Mobile Mapping Systems

KW - Point Clouds

KW - RANSAC

U2 - 10.1109/CIRA.2009.5423176

DO - 10.1109/CIRA.2009.5423176

M3 - Paper

AN - SCOPUS:77951167430

SP - 375

EP - 380

T2 - 2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2009

Y2 - 15 December 2009 through 18 December 2009

ER -

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

Abstract

Conference

Keywords

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