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Proceedings Paper

Registration and change detection techniques using 3D laser radar data from natural environments
Author(s): Gustav Tolt; Anders Wiklund; Pierre Andersson; Tomas Chevalier; Christina Grönwall; Frank Gustafsson; Håkan Larsson
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Paper Abstract

In this paper, we present techniques related to registration and change detection using 3D laser radar data. First, an experimental evaluation of a number of registration techniques based on the Iterative Closest Point algorithm is presented. As an extension, an approach for removing noisy points prior to the registration process by keypoint detection is also proposed. Since the success of accurate registration is typically dependent on a satisfactorily accurate starting estimate, coarse registration is an important functionality. We address this problem by proposing an approach for coarse 2D registration, which is based on detecting vertical structures (e.g. trees) in the point sets and then finding the transformation that gives the best alignment. Furthermore, a change detection approach based on voxelization of the registered data sets is presented. The 3D space is partitioned into a cell grid and a number of features for each cell are computed. Cells for which features have changed significantly (statistical outliers) then correspond to significant changes.

Paper Details

Date Published: 5 October 2006
PDF: 10 pages
Proc. SPIE 6396, Electro-Optical Remote Sensing II, 63960A (5 October 2006); doi: 10.1117/12.690189
Show Author Affiliations
Gustav Tolt, Swedish Defence Research Agency (Sweden)
Anders Wiklund, Swedish Defence Research Agency (Sweden)
Pierre Andersson, Swedish Defence Research Agency (Sweden)
Tomas Chevalier, Swedish Defence Research Agency (Sweden)
Christina Grönwall, Swedish Defence Research Agency (Sweden)
Frank Gustafsson, Swedish Defence Research Agency (Sweden)
Håkan Larsson, Swedish Defence Research Agency (Sweden)

Published in SPIE Proceedings Vol. 6396:
Electro-Optical Remote Sensing II
Gary W. Kamerman; David V. Willetts; Ove K. Steinvall, Editor(s)

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