13 May 2016 An automated method for registering lidar data in restrictive, tunnel-like environments
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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.
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Walter D. Zacherl, Eustace Dereniak, Lars Furenlid, 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); doi: 10.1117/12.2223453; https://doi.org/10.1117/12.2223453
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