Automatic registration of laser point clouds of urban areas

Many tasks in airborne laserscanning require the registration of differentscans of the same object. Especially data acquired in urban environments with buildings viewed obliquely from different directionsneed to be aligned. In this paper we propose a method tofilter these point clouds based on different techniques to speed upthe computations and achieve better results with the ICP algorithm. A statistical analysis is used and planes are fitted tothe data wherever possible. In addition to this, we derive extrafeatures 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 intensityof reflected laser pulses and normal vectors of fitted planes are considered. The extended algorithm shows faster convergence andhigher stability. We demonstrate and evaluate our approach by registering four data sets that contain different oblique viewsof the same urban region.     «

Many tasks in airborne laserscanning require the registration of differentscans of the same object. Especially data acquired in urban environments with buildings viewed obliquely from different directionsneed to be aligned. In this paper we propose a method tofilter these point clouds based on different techniques to speed upthe computations and achieve better results with the ICP algorithm. A statistical analysis is used and planes are fitted tothe data wherever possible. In addition to this, w...     »