Registering 3D Point Clouds: An Experimental Evaluation

Published

May 1, 2001

Author(s)

Christoph J. Witzgall, Geraldine Cheok

Abstract

Four separate laser scans of a wooden box, taken from different vantage points, were examined in a laboratory setting. Visual and numerical registration methods, aimed at aligning the individual scan data with respect to a common frame, were explored. The numerical registration method aligns point clouds with triangulated elevated surfaces (TIN) optimizing residual-based measures-of-fit, as outlined in this report. Essential procedures for data filtering are described including methods for shadow delineation. Data phenomena beyond common noise were uncovered, particularly, phantom points resulting from split signals. Such points interfere with determining occlusions. Results from four experiments applying numerical and visual procedures are reported.

Citation

NIST Interagency/Internal Report (NISTIR) - 6743

Report Number

6743

NIST Pub Series

NIST Interagency/Internal Report (NISTIR)

Pub Type

NIST Pubs

Download Paper

https://doi.org/10.6028/NIST.IR.6743

Local Download

Keywords

Delaunay triangulation, elevated surfaces, laser scan, occlusion, registration, residual-measure-of-fit, shadow delineation, split signal, TIN

Citation

Witzgall, C. and Cheok, G. (2001), Registering 3D Point Clouds: An Experimental Evaluation, NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD, [online], https://doi.org/10.6028/NIST.IR.6743, https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=860351 (Accessed October 14, 2025)