相关论文: Robust Building-based Registration of Airborne LiD…

Co-Registration of aerial imagery and Light Detection and Ranging (LiDAR) data is quilt challenging because the different imaging mechanism causes significant geometric and radiometric distortions between such data. To tackle the problem,…

Applications based on synergistic integration of optical imagery and LiDAR data are receiving a growing interest from the remote sensing community. However, a misaligned integration between these datasets may fail to fully profit the…

Registration of 3D LiDAR point clouds with optical images is critical in the combination of multi-source data. Geometric misalignment originally exists in the pose data between LiDAR point clouds and optical images. To improve the accuracy…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…

Building change detection is essential for monitoring urbanization, disaster assessment, urban planning and frequently updating the maps. 3D structure information from airborne light detection and ranging (LiDAR) is very effective for…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Accurate registration between LiDAR (Light Detection and Ranging) point clouds and semantic 3D city models is a fundamental topic in urban digital twinning and a prerequisite for downstream tasks, such as digital construction, change…

Modern unmanned aerial vehicles (UAVs) are irreplaceable in search and rescue (SAR) missions to obtain a situational overview or provide closeups without endangering personnel. However, UAVs heavily rely on global navigation satellite…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

We present a fully automatic approach for reconstructing compact 3D building models from large-scale airborne point clouds. A major challenge of urban reconstruction from airborne LiDAR point clouds lies in that the vertical walls are…

Centimeter level globally accurate and consistent maps for autonomous vehicles navigation has long been achieved by on board real-time kinematic(RTK)-GPS in open areas. However when dealing with urban environments, GPS will experience…

Developments in three-dimensional real worlds promote the integration of geoinformation and building information models (BIM) known as GeoBIM in urban construction. Light detection and ranging (LiDAR) integrated with global navigation…

Airborne LiDAR (Light Detection and Ranging) data is widely applied in building reconstruction, with studies reporting success in typical buildings. However, the reconstruction of curved buildings remains an open research problem. To this…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Airborne acquisition and on-road mobile mapping provide complementary 3D information of an urban landscape: the former acquires roof structures, ground, and vegetation at a large scale, but lacks the facade and street-side details, while…

With the development of numerous 3D sensing technologies, object registration on cross-source point cloud has aroused researchers' interests. When the point clouds are captured from different kinds of sensors, there are large and different…

The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…