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Automatic registration of laser point clouds of urban areas

: Hebel, Marcus; Stilla, U.

Volltext urn:nbn:de:0011-n-1007483 (2.6 MByte PDF)
MD5 Fingerprint: 144fb74a6b8a2476a6c6f3874b868bbb
Erstellt am: 24.9.2009

Stilla, U. ; International Society for Photogrammetry and Remote Sensing -ISPRS-; TU München, Institut für Photogrammetrie und Kartographie:
PIA07, Photogrammetric Image Analysis. Part A : Papers Accepted on the Basis of Peer-Reviewed Full Manuscripts, 19-21 September 2007, Munich, Germany
München: Technische Universität München, Institut für Photogrammetrie und Kartographie, 2007 (The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 36, Part 3/W49A)
ISSN: 1682-1750
Conference "Photogrammetric Image Analysis" (PIA) <2007, München>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer FOM ( IOSB)
laser scanning; LiDAR; ICP; RANSAC; multiple scans; urban data; registration

Many tasks in airborne laserscanning require the registration of different scans of the same object. Especially data acquired in urban environments with buildings viewed obliquely from different directions need to be aligned. In this paper we propose a method to filter these point clouds based on different techniques to speed up the computations and achieve better results with the ICP algorithm. A statistical analysis is used and planes are fitted to the data wherever possible. In addition to this, we derive extra features that are used for better evaluation of point-to-point correspondences. These measures are directly used within our extension of the ICP method instead of pure Euclidean distances. Both the intensity of reflected laser pulses and normal vectors of fitted planes are considered. The extended algorithm shows faster convergence and higher stability. We demonstrate and evaluate our approach by registering four data sets that contain different oblique views of the same urban region.