Registration of terrestrial mobile laser data on 2D or 3D geographic database by use of a non-rigid ICP approach
| Autor: | Bruno Vallet, Nicolas Paparoditis, Jean-Pierre Papelard, Fabrice Monnier, Nicolas David |
|---|---|
| Přispěvatelé: | Méthodes d'Analyses pour le Traitement d'Images et la Stéréorestitution (MATIS), Laboratoire des Sciences et Technologies de l'Information Géographique (LaSTIG), École nationale des sciences géographiques (ENSG), Institut National de l'Information Géographique et Forestière [IGN] (IGN)-Institut National de l'Information Géographique et Forestière [IGN] (IGN)-École nationale des sciences géographiques (ENSG), Institut National de l'Information Géographique et Forestière [IGN] (IGN)-Institut National de l'Information Géographique et Forestière [IGN] (IGN) |
| Rok vydání: | 2013 |
| Předmět: |
lcsh:Applied optics. Photonics
010504 meteorology & atmospheric sciences Computer science Rigidity (psychology) 02 engineering and technology lcsh:Technology 01 natural sciences Piecewise linear function 0202 electrical engineering electronic engineering information engineering Computer vision ComputingMilieux_MISCELLANEOUS Inertial navigation system 0105 earth and related environmental sciences lcsh:T business.industry Mobile broadband [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV] lcsh:TA1501-1820 Iterative closest point Geometric design lcsh:TA1-2040 Global Positioning System 020201 artificial intelligence & image processing Artificial intelligence lcsh:Engineering (General). Civil engineering (General) business Mobile mapping |
| Zdroj: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol II-5-W2, Pp 193-198 (2013) ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences, 2013, II-5/W2, pp.193-198. ⟨10.5194/isprsannals-II-5-W2-193-2013⟩ |
| ISSN: | 2194-9050 |
| DOI: | 10.5194/isprsannals-ii-5-w2-193-2013 |
| Popis: | This article presents a generic and efficient method to register terrestrial mobile data with imperfect location on a geographic database with better overall accuracy but less details. The registration method proposed in this paper is based on a semi-rigid point to plane ICP ("Iterative Closest Point"). The main applications of such registration is to improve existing geographic databases, particularly in terms of accuracy, level of detail and diversity of represented objects. Other applications include fine geometric modelling and fine façade texturing, object extraction such as trees, poles, road signs marks, facilities, vehicles, etc. The geopositionning system of mobile mapping systems is affected by GPS masks that are only partially corrected by an Inertial Navigation System (INS) which can cause an important drift. As this drift varies non-linearly, but slowly in time, it will be modelled by a translation defined as a piecewise linear function of time which variation over time will be minimized (rigidity term). For each iteration of the ICP, the drift is estimated in order to minimise the distance between laser points and planar model primitives (data attachment term). The method has been tested on real data (a scan of the city of Paris of 3.6 million laser points registered on a 3D model of approximately 71,400 triangles). |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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