Outdoor Verification System

摘要

The paper presents a prototype of a system capable of building a reference model of a largernoutdoor area. The reference model is based on fused data from various scanner architecturesrnhaving different characteristics such as acquired resolutions and coverage. The data fusion isrnbriefly discussed with a focus of large-scale scan registration. The different scanner techniques,rnsuch as tripod mounted laser range scanners, vehicle mounted laser scanners and LIDAR scansrnfrom aerial sensors, are discusses. Applications for the prototype include the concepts ofrnefficiently performing a change detection in an outdoor environment, for instance for nuclearrnpower plant areas. The paper includes examples covering an office and warehouse area wherernthe prototype system has been used to construct a reference model based on aerial scans and arnvehicle mounted laser scanners and a change detection has been performed with a verificationrnscan coming from a scan from a vehicle-mounted scanner. Successful detection of differencernbetween the models is presented and the use of the prototype system is discussed.