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A ROBUST METHOD FOR REGISTERING GROUND-BASED LASER RANGE IMAGES OF URBAN OUTDOOR OBJECTS

By Huijing Zhao and Ryosuke Shibasaki

Abstract

There is a potentially strong demand for detailed 3D spatial data of urban area. Ground-based laser range scanner is one of the promising devices to acquire range images of urban 3D objects. In this paper, the authors propose an automated registration method of multiple overlapping range images for the reconstruction of 3D urban objects. Registration is achieved in two steps, pair-wise registration and multiple registration assuming that one rotating axis of a laser range scanner is almost vertical. At first, pair-wise registration determines approximate values of four transformation parameters, a horizontal rotation angle and three translation parameters of a pair of neighboring range images. Then through multiple registration, the transformation parameters of all range images are adjusted using the approximate values so as to minimize the total errors. An outdoor experiment was conducted registering forty-two range images to construct a 3D model of a building in the campus of the Univ. of Tokyo. Accuracy of the model was examined using a 1:500 scale digital map and GPS measured location of viewpoints. Efficiency and Accuracy of the registration method is demonstrated in this paper

Year: 2008
OAI identifier: oai:CiteSeerX.psu:10.1.1.133.9774
Provided by: CiteSeerX
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