Extending generalized hough transform to detect 3D objects in laser range data

Automated detection and 3D modelling of objects in laser range data is of great importance in many applications. Existing approaches to object detection in range data are limited to either 2.5D data (e.g. range images) or simple objects with a parametric form (e.g. spheres). This paper describes a new approach to the detection of 3D objects with...

New point matching algorithm for panoramic reflectance images

Much attention is paid to registration of terrestrial point clouds nowadays. Research is carried out towards improved efficiency and automation of the registration process. The most important part of registration is finding correspondence. The panoramic reflectance images are generated according to the angular coordinates and reflectance value...

Reducing the error in terrestrial laser scanning by optimizing the measurement set-up

High spatial resolution and fast capturing possibilities make 3D terrestrial laser scanners widely used in engineering applications and cultural heritage recording. Phase based laser scanners can measure distances to object surfaces with a precision in the order of a few millimeters at ranges between 1 and 80 m. However, the quality of a laser...

Automatic registration of terrestrial point cloud using panoramic reflectance images

Much attention is paid to registration of terrestrial point clouds nowadays. Research is carried out towards improved efficiency and automation of the registration process. This paper reports a new approach for point clouds registration utilizing reflectance panoramic images. The approach follows a two-step procedure: pair-wise registration and...

Applications for point cloud skeletonizations in forestry and agriculture

In recent years, both airborne and terrestrial laser scanning developed to a standard technique for acquiring information on terrestrial landscapes. Here forest inventory and orchard management is considered. Inventory and parameterization of individual trees in orchards and forests are of large interest in nowadays society because of the...

SkelTre - Fast Skeletonisation for Imperfect Point Cloud Data of Botanic Trees

Terrestrial laser scanners capture 3D geometry as a point cloud. This paper reports on a new algorithm aiming at the skeletonisation of a laser scanner point cloud, representing a botanical tree without leafs. The resulting skeleton can subsequently be applied to obtain tree parameters like length and diameter of branches for botanic...

Automated detection of branch dimensions in woody skeletons of leafless fruit tree canopies

Light driven physiological processes of tree canopies need to be modelled based on detailed 3Dcanopy structure – we explore the possibilities offered by terrestrial LIDAR to automatically represent woody skeletons of leafless trees as a basis for adequate models of canopy structure. The automatic evaluation method for LIDAR data of fruit trees...

Optimizing terrestrial laser scanning measurement set-up

One of the main applications of the terrestrial laser scanner is the visualization, modeling and monitoring of man-made structures like buildings. Especially surveying applications require on one hand a quickly obtainable, high resolution point cloud but also need observations with a known and well described quality. To obtain a 3D point cloud,...

Identifying corresponding segments from repeated scan data

It has been demonstrated that surface changes in the order of millimeters are detectable using terrestrial laser scanning. In practice however, it is still virtually impossible to detect such small changes from for example repeated scans of a complex industrial scene. The three main obstructions are, first, a priori uncertainty on what objects...

Moving window segmentation framework for point clouds

As lidar point clouds become larger streamed processing becomes more attractive. This paper presents a framework for the streamed segmentation of point clouds with the intention of segmenting unstructured point clouds in real-time. The framework is composed of two main components. The first component segments points within a window shifting over...

Simplified 3D city models from LiDAR

Aerial laser scan data is widely used to produce 2½D digital elevation models automatically. However, creating full 3D city models from this data is a complex task. A simplified 3D model, like a 2½D model with vertical walls will be easier to produce automatically, especially when the model is not produced to look nice, but just to give...

Indoor A* Pathfinding through an Octree Representation of a Point Cloud

There is a growing demand of 3D indoor pathfinding applications. Researched in the field of robotics during the last decades of the 20th century, these methods focussed on 2D navigation. Nowadays we would like to have the ability to help people navigate inside buildings or send a drone inside a building when this is too dangerous for people....

Point Cloud Based Visibility Analysis: first experimental results

Visibility computed from a LiDAR point cloud offers several advantages compared to using a gridded digital height-model. With a higher resolution and detailed information, point cloud data can provide precise analysis as well as an opportunity to avoid the process of generating a surface representation or a solid model. Also a better inclusion...

Towards 10^15-level point clouds management - a nD PointCloud structure

Drastically increasing production of point clouds as well as modern application fields like robotics and virtual reality raises essential demand for smart and highly efficient data management. Effective tools for the managing and direct use of large point clouds are missing. Current state-of-the-art database management systems (DBMS) present...

Identifying bridge deformation using laser scanning data

Increasing traffic weights and aggressive environmental conditions may result in unexpected deterioration of a bridge’s components. Particularly, most bridges in Europe and US over half life span are affected by such impact. Structural deficiencies may cause partial or full collapse of bridges resulting in problems for human life, economy,...

Behavioural Analysis in a 6-DoF VR System: Influence of Content, Quality and User Disposition

This work presents an explorative behavioural analysis of users navigating in an immersive space aimed at enabling the next-generation multimedia systems. Our main goal is to understand how the user experience of immersive content with 6-Degrees-of-Freedom (DoF) is affected not only by the visual content and its quality but also by the...

Subjective QoE Evaluation of User-Centered Adaptive Streaming of Dynamic Point Clouds

Technological advances in head-mounted displays and novel real-time 3D acquisition and reconstruction solutions have fostered the development of 6 Degrees of Freedom (6DoF) teleimmersive systems for social VR applications. Point clouds have emerged as a popular format for such applications, owing to their simplicity and versatility; yet,...

Extending 3-DoF Metrics to Model User Behaviour Similarity in 6-DoF Immersive Applications

Immersive reality technologies, such as Virtual and Augmented Reality, have ushered a new era of user-centric systems, in which every aspect of the coding-delivery-rendering chain is tailored to the interaction of the users. Understanding the actual interactivity and behaviour of the users is still an open challenge and a key step to enabling...