Centre dedocumentation
scientifique

Moving objects aware sensor mesh fusion for indoor reconstruction from a couple of 2D lidar scans / Teng Wu (2020)  

Public Titre : Moving objects aware sensor mesh fusion for indoor reconstruction from a couple of 2D lidar scans Type de document : Article/Communication Auteurs : Teng Wu , Auteur ; Bruno Vallet , Auteur ; Cédric Demonceaux, Auteur ; Jingbin Liu, Auteur Congrès : Congrès: ISPRS 2020, virtual Congress Imaging today foreseeing tomorrow (31 aout - 2 septembre 2020; Nice, France) , Commanditaire Editeur : International Society for Photogrammetry and Remote Sensing ISPRS Année de publication : 2020 Collection : International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, ISSN 1682-1750 num. XLIII-B2 Projets : PLaTINUM / Gouet-Brunet, Valérie Importance : pp 507 - 514 Format : 21 x 30 cm Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie [Termes descripteurs IGN] données lidar [Termes descripteurs IGN] données localisées 2D [Termes descripteurs IGN] espace intérieur [Termes descripteurs IGN] fusion de données [Termes descripteurs IGN] objet mobile [Termes descripteurs IGN] reconstruction 3D Résumé : (auteur) Indoor mapping attracts more attention with the development of 2D and 3D camera and Lidar sensor. Lidar systems can provide a very high resolution and accurate point cloud. When aiming to reconstruct the static part of the scene, moving objects should be detected and removed which can prove challenging. This paper proposes a generic method to merge meshes produced from Lidar data that allows to tackle the issues of moving objects removal and static scene reconstruction at once. The method is adapted to a platform collecting point cloud from two Lidar sensors with different scan direction, which will result in different quality. Firstly, a mesh is efficiently produced from each sensor by exploiting its natural topology. Secondly, a visibility analysis is performed to handle occlusions (due to varying viewpoints) and remove moving objects. Then, a boolean optimization allows to select which triangles should be removed from each mesh. Finally, a stitching method is used to connect the selected mesh pieces. Our method is demonstrated on a Navvis M3 (2D laser ranger system). Numéro de notice : C2020-008 Affiliation des auteurs : LaSTIG+Ext (2020- ) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.5194/isprs-archives-XLIII-B2-2020-507-2020 date de publication en ligne : 12/08/2020 En ligne : https://doi.org/10.5194/isprs-archives-XLIII-B2-2020-507-2020 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=95659