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Publication Citation: Registering 3D Point Clouds: An Experimental Evaluation

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Author(s): Christoph J. Witzgall; Geraldine S. Cheok;
Title: Registering 3D Point Clouds: An Experimental Evaluation
Published: May 01, 2001
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
Keywords: Delaunay triangulation,elevated surfaces,laser scan,occlusion,registration,residual-measure-of-fit,shadow delineation,split signal,TIN
Research Areas: Building and Fire Research
PDF version: PDF Document Click here to retrieve PDF version of paper (2MB)