Rectification of Aerial 3D Laser Scans via Line-based Registration to Ground Model

The aerial 3D laser scanner is needed for scanning the areas that cannot be observed from the ground. Since the laser scanning takes time, the obtained range data is distorted due to the sensor motion while scanning. This paper presents a rectification method for the distorted range data by aligning each scan line to the 3D data obtained from the ground. To avoid the instability and ambiguity of the line-based alignment, the parameters to be optimized are selected alternately, and the smoothness constraint is introduced by assuming that the sensor motion is smooth. The experimental results show that the proposed method has the good accuracy simulation and actual data.

[1]  Luc Van Gool,et al.  Elastic convolved ICP for the registration of deformable objects , 2009, 2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops.

[2]  Takeshi Oishi,et al.  A Fast Registration Method Using IP and Its Application to Ultrasound Image Registration , 2009, IPSJ Trans. Comput. Vis. Appl..

[3]  Szymon Rusinkiewicz,et al.  Global non-rigid alignment of 3-D scans , 2007, SIGGRAPH 2007.

[4]  Paul H. J. Kelly,et al.  SLAM++: Simultaneous Localisation and Mapping at the Level of Objects , 2013, 2013 IEEE Conference on Computer Vision and Pattern Recognition.

[5]  Katsushi Ikeuchi,et al.  Simultaneous determination of registration and deformation parameters among 3D range images , 2005, Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM'05).

[6]  Vladlen Koltun,et al.  Elastic Fragments for Dense Scene Reconstruction , 2013, 2013 IEEE International Conference on Computer Vision.

[7]  Szymon Rusinkiewicz,et al.  Global non-rigid alignment of 3-D scans , 2007, ACM Trans. Graph..

[8]  Atsushi Nakazawa,et al.  Fast simultaneous alignment of multiple range images using index images , 2005, Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM'05).

[9]  Katsushi Ikeuchi,et al.  Locally rigid globally non-rigid surface registration , 2011, 2011 International Conference on Computer Vision.

[10]  Atsushi Nakazawa,et al.  Bayon Digital Archival Project , 2004 .

[11]  Takeshi Oishi,et al.  Flying Laser Range Sensor for Large-Scale Site-Modeling and Its Applications in Bayon Digital Archival Project , 2008, International Journal of Computer Vision.

[12]  Jean Ponce,et al.  Accurate, Dense, and Robust Multiview Stereopsis , 2010, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[13]  Takeo Kanade,et al.  Shape and motion from image streams under orthography: a factorization method , 1992, International Journal of Computer Vision.