Experiences With Point Cloud Registration.
Experiences With Point Cloud Registration.
(435 K)
Witzgall, C.; Cheok, G. S.
NIST SP 989; September 2002.
International Symposium on Automation and Robotics in
Construction, 19th (ISARC). Proceedings. National
Institute of Standards and Technology, Gaithersburg,
Maryland. September 23-25, 2002, 349-355 pp, 2002.
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Keywords:
robotics; construction; lasers; technology utilization
Abstract:
The development of LADAR (laser distance and ranging)
technology to acquire 3D spatial data made it possible
to create 3D models of complex objects. Because an
unobstructed line-of-sight is required to capture a
point on an object, an individual LADAR scan may acquire
only a partial 3D image, and several scans from
different vantage points are needed for complete
coverage of the object. As a result there is a need for
software which registers various scans to a common
coordinate frame. NIST is investigating direct
optimization as an approach to numerically registering
3D LADAR data without utilizing fiduciary points or
matching features. The primary capability is to register
a point cloud to a triangulated surface--a TIN surface.
If a point cloud is to be registered against another
point cloud, then the first point cloud is meshed in
order to create a triangulated surface against which to
register the second point cloud. The direct optimization
approach to registration depends on the choice of the
measure-of-fit to quantify the extent to which the point
cloud differs from the surface in areas of overlap. Two
such measures-of-fit have been implemented. Data for an
experimental evaluation were collected by scanning a
box, and registration accuracy was gauged based on
comparisons of the volume and height to known values.
Building and Fire Research Laboratory
National Institute of Standards and Technology
Gaithersburg, MD 20899