Abstract
A method for automated registration of lidar datasets specifically tailored to geometries with high length-to-width ratios operates on data in curvilinear coordinates. It relaxes the minimum change in perspective requirement between neighboring datasets typical of other algorithms. Range data is filtered with a series of discrete Gaussian and derivative of Gaussian filters to form a second-order Taylor series approximation to the surface about each sampled point. Principal curvatures with respect to the surface normal are calculated and compared across neighboring datasets to determine homologies and the best fit transfer matrix. The method reduces raw data volume requirements and processing time.
| Original language | English (US) |
|---|---|
| Title of host publication | Laser Radar Technology and Applications XXI |
| Publisher | SPIE |
| Volume | 9832 |
| ISBN (Electronic) | 9781510600737 |
| DOIs | |
| State | Published - 2016 |
| Event | Laser Radar Technology and Applications XXI - Baltimore, United States Duration: Apr 19 2016 → Apr 20 2016 |
Other
| Other | Laser Radar Technology and Applications XXI |
|---|---|
| Country | United States |
| City | Baltimore |
| Period | 4/19/16 → 4/20/16 |
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Keywords
- 3D registration
- invariant feature
- laser radar
- scale invariance
- spherical coordinate
- surface matching
- tunnel
ASJC Scopus subject areas
- Electronic, Optical and Magnetic Materials
- Condensed Matter Physics
- Computer Science Applications
- Applied Mathematics
- Electrical and Electronic Engineering
Cite this
An automated method for registering lidar data in restrictive, tunnel-like environments. / Zacherl, Walter D.; Dereniak, Eustace; Furenlid, Lars R; Clarkson, Eric W.
Laser Radar Technology and Applications XXI. Vol. 9832 SPIE, 2016. 98320D.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - An automated method for registering lidar data in restrictive, tunnel-like environments
AU - Zacherl, Walter D.
AU - Dereniak, Eustace
AU - Furenlid, Lars R
AU - Clarkson, Eric W
PY - 2016
Y1 - 2016
N2 - A method for automated registration of lidar datasets specifically tailored to geometries with high length-to-width ratios operates on data in curvilinear coordinates. It relaxes the minimum change in perspective requirement between neighboring datasets typical of other algorithms. Range data is filtered with a series of discrete Gaussian and derivative of Gaussian filters to form a second-order Taylor series approximation to the surface about each sampled point. Principal curvatures with respect to the surface normal are calculated and compared across neighboring datasets to determine homologies and the best fit transfer matrix. The method reduces raw data volume requirements and processing time.
AB - A method for automated registration of lidar datasets specifically tailored to geometries with high length-to-width ratios operates on data in curvilinear coordinates. It relaxes the minimum change in perspective requirement between neighboring datasets typical of other algorithms. Range data is filtered with a series of discrete Gaussian and derivative of Gaussian filters to form a second-order Taylor series approximation to the surface about each sampled point. Principal curvatures with respect to the surface normal are calculated and compared across neighboring datasets to determine homologies and the best fit transfer matrix. The method reduces raw data volume requirements and processing time.
KW - 3D registration
KW - invariant feature
KW - laser radar
KW - scale invariance
KW - spherical coordinate
KW - surface matching
KW - tunnel
UR - http://www.scopus.com/inward/record.url?scp=84991516830&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84991516830&partnerID=8YFLogxK
U2 - 10.1117/12.2223453
DO - 10.1117/12.2223453
M3 - Conference contribution
AN - SCOPUS:84991516830
VL - 9832
BT - Laser Radar Technology and Applications XXI
PB - SPIE
ER -