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A voxel-based metadata structure for change detection in point clouds of large-scale urban areas

: Gehrung, Joachim; Hebel, Marcus; Arens, Michael; Stilla, Uwe

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International Society for Photogrammetry and Remote Sensing -ISPRS-:
ISPRS TC II Mid-term Symposium "Towards Photogrammetry 2020" : 4-7 June 2018, Riva del Garda, Italy
Istanbul: ISPRS, 2018 (ISPRS Annals IV-2)
Mid-term Symposium "Towards Photogrammetry 2020" <2018, Riva del Garda>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()
ray casting; discretization artifacts; volumetric environment representation; change detection

Mobile laser scanning has not only the potential to create detailed representations of urban environments, but also to determine changes up to a very detailed level. An environment representation for change detection in large scale urban environments based on point clouds has drawbacks in terms of memory scalability. Volumes, however, are a promising building block for memory efficient change detection methods. The challenge of working with 3D occupancy grids is that the usual raycasting-based methods applied for their generation lead to artifacts caused by the traversal of unfavorable discretized space. These artifacts have the potential to distort the state of voxels in close proximity to planar structures. In this work we propose a raycasting approach that utilizes knowledge about planar surfaces to completely prevent this kind of artifacts. To demonstrate the capabilities of our approach, a method for the iterative volumetric approximation of point clouds that allows to speed up the raycasting by 36 percent is proposed.