Abstract
Terrestrial laser scanners can capture dense point-clouds from engineering plants. Dense point-clouds are useful for collision detection of objects that move in engineering plants. We propose a real-time collision detection method for large-scale point-clouds. In our method, statuses are classified into collision, no collision, and unknown. The unknown status indicates that points are missing at the object position because of occlusion. Collisions are evaluated on depth-maps, which are generated from point-clouds. Two-resolution of depth-maps are used for improving performance. High-resolution depth maps are used only when objects collide on rough resolution depth maps. Our experimental results show that our method could quickly detect collisions between a large-scale point-cloud and mesh models.
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