International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part B3. Istanbul 2004
Scan / Plane a b © d
1/1 -0.0302 | -0.0162 | 0.9994 | -0.8710
1/2 0.9993 | 0.0169 | 0.0342 | 2.8249
L/3 0.0135 | -0.9998 | -0.0122 | -3.9721
2/1 0.0082 | 0.0043 | 0.9999 | -1.4600
2/2 0.4721 | -0.8815 | 0.0071 | 6.3114
2/3 -0.8835 | -0.4683 | 0.0098 | -1.9604
Table 1: Plane parameters
0.4562 —0.8895 —0.0273 3.5397
0.8893 0.4568 —0.0215 —1.9579
0.0316 —0.0145 0.9994 —0.5140
0 0 0 1
(20)
In comparison to the reference values determined with re-
flector targets the results show differences in the rotation as
well as in the translation component. In order to evaluate
these results, both transformation matrices are applied to a
measured set of points and the differences in all coordinate
axes are calculated. The outcome of this is an average shift
of the points about:
AX =0013m
AY 0.023 m (21)
AZ = 0.009 m
This result shows, that the described method is suitable
to determine the transformation parameters between two
overlapping terrestrial lasers scans. The accuracy of the
calculated parameters is sufficient to achieve initial val-
ues for a fine adjustment afterwards. Furthermore it is
expected, that the accuracy of the transformation param-
eters will be improved by using more corresponding sur-
faces. Scans of building facades contain many planar sur-
faces which contribute to the accuracy of the determined
transformation parameters.
S SUMMARY AND OUTLOOK
In this paper an approach has been described to register
terrestrial laser scans without using special targets as iden-
tical points to achieve the transformation parameters. A
segmentation is used to derive meaningful planar regions
in each scan. The parameters of the planar surfaces are
determined by a robust estimation algorithm. Afterwards
at least three corresponding pairs of planar patches are
selected and the transformation parameters are computed
separated in rotation and translation. A complete example
Is given and the results are compared with reference values
achieved by traditional methods.
[n the future, it is planned to automate the matching proce-
dure of planar surfaces. A constrained tree search will be
used to find corresponding regions in different scans, val-
idating them using geometric properties. Finally, the fine
adjustment of the different scans will be done using 3D
correspondences.
1096
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ACKNOWLEDGEMENT
The presented work has been done within in the scope
of the junior research group “Automatic methods for the
fusion, reduction and consistent combination of complex,
heterogeneous geoinformation”. The project is funded by
the VolkswagenStiftung.
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