An automated method for registering lidar data in restrictive, tunnel-like environments

Walter D. Zacherl; Eustace Dereniak; Lars Furenlid; Eric Clarkson

doi:10.1117/12.2223453

13 May 2016 An automated method for registering lidar data in restrictive, tunnel-like environments

Walter D. Zacherl, Eustace Dereniak, Lars Furenlid, Eric Clarkson

Proceedings Volume 9832, Laser Radar Technology and Applications XXI; 98320D (2016) https://doi.org/10.1117/12.2223453
Event: SPIE Defense + Security, 2016, Baltimore, MD, United States

Abstract

A method for automated registration of lidar datasets specifically tailored to geometries with high length-to-width ratios operates on data in curvilinear coordinates. It relaxes the minimum change in perspective requirement between neighboring datasets typical of other algorithms. Range data is filtered with a series of discrete Gaussian and derivative of Gaussian filters to form a second-order Taylor series approximation to the surface about each sampled point. Principal curvatures with respect to the surface normal are calculated and compared across neighboring datasets to determine homologies and the best fit transfer matrix. The method reduces raw data volume requirements and processing time.

Citation Download Citation

Walter D. Zacherl, Eustace Dereniak, Lars Furenlid, and Eric Clarkson "An automated method for registering lidar data in restrictive, tunnel-like environments", Proc. SPIE 9832, Laser Radar Technology and Applications XXI, 98320D (13 May 2016); https://doi.org/10.1117/12.2223453

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