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Proceedings Paper

An automated method for registering lidar data in restrictive, tunnel-like environments
Author(s): Walter D. Zacherl; Eustace Dereniak; Lars Furenlid; Eric Clarkson
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Paper 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.

Paper Details

Date Published: 13 May 2016
PDF: 20 pages
Proc. SPIE 9832, Laser Radar Technology and Applications XXI, 98320D (13 May 2016); doi: 10.1117/12.2223453
Show Author Affiliations
Walter D. Zacherl, College of Optical Sciences, Univ. of Arizona (United States)
U.S. Army (United States)
Eustace Dereniak, College of Optical Sciences, Univ. of Arizona (United States)
Lars Furenlid, College of Optical Sciences, Univ. of Arizona (United States)
Eric Clarkson, College of Optical Sciences, Univ. of Arizona (United States)


Published in SPIE Proceedings Vol. 9832:
Laser Radar Technology and Applications XXI
Monte D. Turner; Gary W. Kamerman, Editor(s)

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