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Registration of Terrestrial Mobile Laser Data on 2D or 3D Geographic Database by Use of a Non-rigid Icp Approach. : Volume Ii-5/W2, Issue 1 (16/10/2013)

By Monnier, F.

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Book Id: WPLBN0004014094
Format Type: PDF Article :
File Size: Pages 6
Reproduction Date: 2015

Title: Registration of Terrestrial Mobile Laser Data on 2D or 3D Geographic Database by Use of a Non-rigid Icp Approach. : Volume Ii-5/W2, Issue 1 (16/10/2013)  
Author: Monnier, F.
Volume: Vol. II-5/W2, Issue 1
Language: English
Subject: Science, Isprs, Annals
Collections: Periodicals: Journal and Magazine Collection, Copernicus GmbH
Historic
Publication Date:
2013
Publisher: Copernicus Gmbh, Göttingen, Germany
Member Page: Copernicus Publications

Citation

APA MLA Chicago

Vallet, B., Paparoditis, N., Papelard, J., Monnier, F., & David, N. (2013). Registration of Terrestrial Mobile Laser Data on 2D or 3D Geographic Database by Use of a Non-rigid Icp Approach. : Volume Ii-5/W2, Issue 1 (16/10/2013). Retrieved from http://www.hawaiilibrary.net/


Description
Description: MATIS research Laboratory, IGN, Saint Mandé, France. 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).

Summary
Registration of terrestrial mobile laser data on 2D or 3D geographic database by use of a non-rigid ICP approach.

 

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