Efficient Alignment of Multiple Large, Complex LIDAR Models

摘要

The construction of 3D models from light detection and ranging (LIDAR) data requires reliable and accurate alignment of multiple overlapping scans. While established manual and automated 3D alignment methods generally perform well, aligning scans of complex scenes from arbitrary perspectives with small amounts of overlap remains challenging. The projection information available with scanned LIDAR data is generally underutilized and may be better exploited to simplify the alignment process, avoiding manually specified algorithm parameters and improving reliability. In this work, we present projective methods for manual and automated 3D alignment and introduce a projective measure of surface interpenetration to quantify alignment error. Performance is demonstrated with a combination of indoor and outdoor scan sets, including cluttered forest scenes, and compared to results obtained using an established commercial product.