Abstract
Abstract. Throughout the years, semantic 3D city models have been created to depict 3D spatial phenomenon. Recently, an increasing number of mobile laser scanning (MLS) units yield terrestrial point clouds at an unprecedented level. Both dataset types often depict the same 3D spatial phenomenon differently, thus their fusion should increase the quality of the captured 3D spatial phenomenon. Yet, each dataset has modality-dependent uncertainties that hinder their immediate fusion. Therefore, we present a method for fusing MLS point clouds with semantic 3D building models while considering uncertainty issues. Specifically, we show MLS point clouds coregistration with semantic 3D building models based on expert confidence in evaluated metadata quantified by confidence interval (CI). This step leads to the dynamic adjustment of the CI, which is used to delineate matching bounds for both datasets. Both coregistration and matching steps serve as priors for a Bayesian network (BayNet) that performs application-dependent identity estimation. The BayNet propagates uncertainties and beliefs throughout the process to estimate end probabilities for confirmed, unmodeled, and other city objects. We conducted promising preliminary experiments on urban MLS and CityGML datasets. Our strategy sets up a framework for the fusion of MLS point clouds and semantic 3D building models. This framework aids the challenging parallel usage of such datasets in applications such as façade refinement or change detection. To further support this process, we open-sourced our implementation.
Highlights
mobile laser scanning (MLS) point clouds are characterized by high temporal resolution, density and relative 3D point accuracy
It is believed that fusion of MLS point clouds and semantic 3D city models should yield enhanced quality of 3D spatial information, deriving from the definition that the data fusion should result in a maximization of data potential that simultaneously decreases their limitations (Hall and Llinas, 1997)
We present the method coregistering datasets by addressing uncertainty issues by incorporation of confidence interval (CI) estimated on a basis of expert knowledge and dataset specification
Summary
MLS point clouds are characterized by high temporal resolution, density and relative 3D point accuracy. It is believed that fusion of MLS point clouds and semantic 3D city models should yield enhanced quality of 3D spatial information, deriving from the definition that the data fusion should result in a maximization of data potential that simultaneously decreases their limitations (Hall and Llinas, 1997). We present the method coregistering datasets by addressing uncertainty issues by incorporation of CIs estimated on a basis of expert knowledge and dataset specification. This increases method flexibility and avoids pitfalls of predecessors using fixed thresholds.
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