The latest developments in laser scanners allow capturing and digitizingof the full waveform of the backscattered pulse. The waveform canbe analyzed for measurement features such as range, reflectance valuesand spreading of the pulse. These features are used to distinguishbetween locally planar surface elements and partly penetrable objectscaused by partial occlusions. This pre-segmentation and the derivedrange values are used to automatically generate surface primitivesin the form of planes. This allows refining each range value takingthe surface geometry in a close neighborhood into account. To refinethe modeling of the surface, partly occluded surface areas are extendedby prediction of the expected range values. This prediction is furtherimproved by considering the surface slope for the estimated receivedwaveform. Then the point cloud associated with the surface is enhancedby additional range values that were missed in the first processingstep due to weak signal response. This procedure is repeated severaltimes until all useful range values are considered to estimate thesurface.     «

The latest developments in laser scanners allow capturing and digitizingof the full waveform of the backscattered pulse. The waveform canbe analyzed for measurement features such as range, reflectance valuesand spreading of the pulse. These features are used to distinguishbetween locally planar surface elements and partly penetrable objectscaused by partial occlusions. This pre-segmentation and the derivedrange values are used to automatically generate surface primitivesin the form of planes. Th...     »