Abstract
Abstract. Laser scanning systems have been developed to capture very high-resolution 3D point clouds and consequently acquire the object geometry. This object measuring technique has a high capacity for being utilized in a wide variety of applications such as indoor and outdoor modelling. The Terrestrial Laser Scanning (TLS) is used as an important data capturing measurement system to provide high quality point cloud from industrial or built-up environments. However, the static nature of the TLS and complexity of the industrial sites necessitate employing a complementary data capturing system e.g. cameras to fill the gaps in the TLS point cloud caused by occlusions which is very common in complex industrial areas. Moreover, employing images provide better radiometric and edge information. This motivated a joint project to develop a system for automatic and robust co-registration of TLS data and images directly, especially for complex objects. In this paper, the proposed methods for various components of this project including gap detection from point cloud, calculation of initial image capturing configuration, user interface and support system for the image capturing procedures, and co-registration between TLS point cloud and photogrammetric point cloud are presented. The primarily results on a complex industrial environment are promising.
Highlights
The rapid development of laser scanning (LS) technology makes it possible to obtain a wide range of 3D spatial data directly in a short time
The static LS or Terrestrial Laser Scanner (TLS) captures the surrounding object geometry from one viewpoint in the so-called panorama mode, while using mobile LS (MLS) measurements are carried out when the platform is moving
The PnP algorithm combined with RANSAC the so-called Efficient PnP (EPnP) is used to estimate the transformation matrix between 2D and 3D feature correspondences. This coarse registration is followed by the iterative closest points (ICP) to perform fine registration and to increase the accuracy of the transformation
Summary
The rapid development of laser scanning (LS) technology makes it possible to obtain a wide range of 3D spatial data directly in a short time. These active sensors allow to capture the object geometry accurately. The static LS or Terrestrial Laser Scanner (TLS) captures the surrounding object geometry from one viewpoint in the so-called panorama mode, while using MLS measurements are carried out when the platform is moving. Static LS systems capture point cloud with higher-density and with less noise than MLSs and more detailed information from the object (Mehdi Maboudi et al, 2018). TLS is commonly utilized for small areas containing detailed information, for instance, cultural heritages or construction sites. MLSs can scan a large area or a network of transport corridors in a short time but currently with lower quality
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