Recalage de releves laser fixes et mobiles sur mns pour la cartographie numerique 3d

We present in this article our work concerning the registration of 3D data issued from several 3D laser clouds obtained by fixed terrestrial 3D laser range scanner and by MMS (Mobile Mapping System), together with 2.5D data of a DSM (Digital Surface Model); the objective being the stake in coherence of a homogeneous 3D representation, which willbe the input of the following processing step: the 3D modelling. This study tackles the production of 3D Realistic Mapping Databases, for outdoor environments. We use an approachbased on the fusion of heterogeneous 3D representations. We expose various scenarios of registration which were specified; we propose a variant of ICP (Iterative Closest Point) with an adaptive dynamic threshold, adapted to the processed data. This algorithm exploitsspecific pre-processing steps dedicated to the studied use-cases. To accelerate the process of registration we developed our algorithmic implementation using a K-D tree.