View in EDS

Globally consistent registration of terrestrial laser scans via graph optimization.

Saved in:
Bibliographic Details
Title: Globally consistent registration of terrestrial laser scans via graph optimization.
Authors: Theiler, Pascal Willy1 pascal.theiler@geod.baug.ethz.ch, Wegner, Jan Dirk1 jan.wegner@geod.baug.ethz.ch, Schindler, Konrad1 schindler@geod.baug.ethz.ch
Source: ISPRS Journal of Photogrammetry & Remote Sensing. Nov2015, Vol. 109, p126-138. 13p.
Subjects: Optical scanners, Image registration, Mathematical optimization, Combinatorics, Scanning systems, Forests & forestry
Abstract: 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 overlap, without knowledge about their initial orientation and without the need for artificial markers or other specific objects. The framework is divided into a coarse and a fine registration part, which each start with pairwise registration and then enforce consistent global alignment across all scans. While we put forward a complete, functional registration system, the novel contribution of the paper lies in the coarse global alignment step. Merging multiple scans into a consistent network creates loops along which the relative transformations must add up. We pose the task of finding a global alignment as picking the best candidates from a set of putative pairwise registrations, such that they satisfy the loop constraints. This yields a discrete optimization problem that can be solved efficiently with modern combinatorial methods. Having found a coarse global alignment in this way, the framework proceeds by pairwise refinement with standard ICP, followed by global refinement to evenly spread the residual errors. The framework was tested on six challenging, real-world datasets. The discrete global alignment step effectively detects, removes and corrects failures of the pairwise registration procedure, finally producing a globally consistent coarse scan network which can be used as initial guess for the highly non-convex refinement. Our overall system reaches success rates close to 100% at acceptable runtimes < 1 h, even in challenging conditions such as scanning in the forest. [ABSTRACT FROM AUTHOR]
Copyright of ISPRS Journal of Photogrammetry & Remote Sensing is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
FullText Text:
  Availability: 0
Header DbId: egs
DbLabel: Engineering Source
An: 110657400
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
IllustrationInfo
Items – Name: Title
  Label: Title
  Group: Ti
  Data: Globally consistent registration of terrestrial laser scans via graph optimization.
– Name: Author
  Label: Authors
  Group: Au
  Data: &lt;searchLink fieldCode=&quot;AR&quot; term=&quot;%22Theiler%2C+Pascal+Willy%22&quot;&gt;Theiler, Pascal Willy&lt;/searchLink&gt;&lt;relatesTo&gt;1&lt;/relatesTo&gt;&lt;i&gt; pascal.theiler@geod.baug.ethz.ch&lt;/i&gt;&lt;br /&gt;&lt;searchLink fieldCode=&quot;AR&quot; term=&quot;%22Wegner%2C+Jan+Dirk%22&quot;&gt;Wegner, Jan Dirk&lt;/searchLink&gt;&lt;relatesTo&gt;1&lt;/relatesTo&gt;&lt;i&gt; jan.wegner@geod.baug.ethz.ch&lt;/i&gt;&lt;br /&gt;&lt;searchLink fieldCode=&quot;AR&quot; term=&quot;%22Schindler%2C+Konrad%22&quot;&gt;Schindler, Konrad&lt;/searchLink&gt;&lt;relatesTo&gt;1&lt;/relatesTo&gt;&lt;i&gt; schindler@geod.baug.ethz.ch&lt;/i&gt;
– Name: TitleSource
  Label: Source
  Group: Src
  Data: &lt;searchLink fieldCode=&quot;JN&quot; term=&quot;%22ISPRS+Journal+of+Photogrammetry+%26+Remote+Sensing%22&quot;&gt;ISPRS Journal of Photogrammetry &amp; Remote Sensing&lt;/searchLink&gt;. Nov2015, Vol. 109, p126-138. 13p.
– Name: Subject
  Label: Subjects
  Group: Su
  Data: &lt;searchLink fieldCode=&quot;DE&quot; term=&quot;%22Optical+scanners%22&quot;&gt;Optical scanners&lt;/searchLink&gt;&lt;br /&gt;&lt;searchLink fieldCode=&quot;DE&quot; term=&quot;%22Image+registration%22&quot;&gt;Image registration&lt;/searchLink&gt;&lt;br /&gt;&lt;searchLink fieldCode=&quot;DE&quot; term=&quot;%22Mathematical+optimization%22&quot;&gt;Mathematical optimization&lt;/searchLink&gt;&lt;br /&gt;&lt;searchLink fieldCode=&quot;DE&quot; term=&quot;%22Combinatorics%22&quot;&gt;Combinatorics&lt;/searchLink&gt;&lt;br /&gt;&lt;searchLink fieldCode=&quot;DE&quot; term=&quot;%22Scanning+systems%22&quot;&gt;Scanning systems&lt;/searchLink&gt;&lt;br /&gt;&lt;searchLink fieldCode=&quot;DE&quot; term=&quot;%22Forests+%26+forestry%22&quot;&gt;Forests &amp; forestry&lt;/searchLink&gt;
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: 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 overlap, without knowledge about their initial orientation and without the need for artificial markers or other specific objects. The framework is divided into a coarse and a fine registration part, which each start with pairwise registration and then enforce consistent global alignment across all scans. While we put forward a complete, functional registration system, the novel contribution of the paper lies in the coarse global alignment step. Merging multiple scans into a consistent network creates loops along which the relative transformations must add up. We pose the task of finding a global alignment as picking the best candidates from a set of putative pairwise registrations, such that they satisfy the loop constraints. This yields a discrete optimization problem that can be solved efficiently with modern combinatorial methods. Having found a coarse global alignment in this way, the framework proceeds by pairwise refinement with standard ICP, followed by global refinement to evenly spread the residual errors. The framework was tested on six challenging, real-world datasets. The discrete global alignment step effectively detects, removes and corrects failures of the pairwise registration procedure, finally producing a globally consistent coarse scan network which can be used as initial guess for the highly non-convex refinement. Our overall system reaches success rates close to 100% at acceptable runtimes &lt; 1 h, even in challenging conditions such as scanning in the forest. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: &lt;i&gt;Copyright of ISPRS Journal of Photogrammetry &amp; Remote Sensing is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder&#39;s express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.&lt;/i&gt; (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=110657400
RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1016/j.isprsjprs.2015.08.007
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 13
        StartPage: 126
    Subjects:
      – SubjectFull: Optical scanners
        Type: general
      – SubjectFull: Image registration
        Type: general
      – SubjectFull: Mathematical optimization
        Type: general
      – SubjectFull: Combinatorics
        Type: general
      – SubjectFull: Scanning systems
        Type: general
      – SubjectFull: Forests & forestry
        Type: general
    Titles:
      – TitleFull: Globally consistent registration of terrestrial laser scans via graph optimization.
        Type: main
  BibRelationships:
    HasContributorRelationships:
      – PersonEntity:
          Name:
            NameFull: Theiler, Pascal Willy
      – PersonEntity:
          Name:
            NameFull: Wegner, Jan Dirk
      – PersonEntity:
          Name:
            NameFull: Schindler, Konrad
    IsPartOfRelationships:
      – BibEntity:
          Dates:
            – D: 01
              M: 11
              Text: Nov2015
              Type: published
              Y: 2015
          Identifiers:
            – Type: issn-print
              Value: 09242716
          Numbering:
            – Type: volume
              Value: 109
          Titles:
            – TitleFull: ISPRS Journal of Photogrammetry & Remote Sensing
              Type: main
ResultId 1