| Simultaneous registration and integration of two sequential Velodyne point clouds using voxel-based least square adjustment |
| Paper ID : 1263-SMPR |
| Authors: |
|
Loghman Moradi * Department of Photogrammetry, School of Surveying and Geospatial Engineering, College of Engineering, University of Tehran, Tehran, Iran |
| Abstract: |
| In this paper, a model for simultaneous registration and 3D modelling of Velodyne VLP 32C laser scanner point clouds based on least square adjustment methods was developed. Considering that most of the proposed methods for registration of point clouds which obtained by mobile mapping systems focus on navigation and visualization, and do not pay enough attention to geometric accuracy, error propagation, and weights analysis. Therefore, the purpose of this paper is to develop a model based on the least square adjustment, focus on the weight of the plane parameters which created by a robust least square fitting algorithm and blunders detection, as well as to create a three-dimensional model of the environment and registration simultaneously by using point cloud voxelization and differential planes technique. The result illustrates the high capability of the proposed solution with the optimum weight of plane parameters to 50, registration accuracy can reach to below 15mm. |
| Keywords: |
| Sequential Point Clouds, Velodyne Point Clouds, Voxel-Based Registration, Integration |
| Status : Conditional Accept (Oral Presentation) |
