Computational methods of acquisition and processing of 3D point cloud data for construction applications
Abstract 3D point cloud data from sensing technologies such as 3D laser scanning and
photogrammetry are able to capture the 3D surface geometries of target objects in an …
photogrammetry are able to capture the 3D surface geometries of target objects in an …
Keypoint-based 4-points congruent sets–automated marker-less registration of laser scans
We propose a method to automatically register two point clouds acquired with a terrestrial
laser scanner without placing any markers in the scene. What makes this task challenging …
laser scanner without placing any markers in the scene. What makes this task challenging …
Fast laser scan matching using polar coordinates
In this paper a novel Polar Scan Matching (PSM) approach is described that works in the
laser scanner's polar coordinate system, therefore taking advantage of the structure of the …
laser scanner's polar coordinate system, therefore taking advantage of the structure of the …
Integrated indoor navigation system for ground vehicles with automatic 3-D alignment and position initialization
This paper introduces an autonomous integrated indoor navigation system for ground
vehicles that fuses inertial sensors, light detection and ranging (LiDAR) sensors, received …
vehicles that fuses inertial sensors, light detection and ranging (LiDAR) sensors, received …
Globally consistent registration of terrestrial laser scans via graph optimization
In this paper we present a framework for the automatic registration of multiple terrestrial laser
scans. The proposed method can handle arbitrary point clouds with reasonable pairwise …
scans. The proposed method can handle arbitrary point clouds with reasonable pairwise …
VICP: Velocity updating iterative closest point algorithm
We propose a novel method to enhance a family of ICP (iterative closest point) algorithms by
updating velocity. Even though ICP algorithms play a dominant role in a model based …
updating velocity. Even though ICP algorithms play a dominant role in a model based …
[PDF][PDF] Motion planning and obstacle avoidance.
This chapter describes the Motion Planning and Obstacle Avoidance for mobile robots. We
will see how both areas do not share the same modelling background. From the very …
will see how both areas do not share the same modelling background. From the very …
Scaling iterative closest point algorithm for registration of m–D point sets
S Du, N Zheng, L **: A methodology based on occupancy grid map merging
Local map** is valuable for many real-time applications of intelligent vehicle systems.
Multivehicle cooperative local map** can bring considerable benefits to vehicles …
Multivehicle cooperative local map** can bring considerable benefits to vehicles …
Iterative most-likely point registration (IMLP): A robust algorithm for computing optimal shape alignment
We present a probabilistic registration algorithm that robustly solves the problem of rigid-
body alignment between two shapes with high accuracy, by aptly modeling measurement …
body alignment between two shapes with high accuracy, by aptly modeling measurement …