{"id":10924,"date":"2026-08-26T20:13:06","date_gmt":"2026-08-26T12:13:06","guid":{"rendered":"\/jase\/?post_type=tkuisotope&p=10924"},"modified":"2026-08-29T18:20:04","modified_gmt":"2026-08-29T10:20:04","slug":"large-scale-3d-scene-reconstruction-with-improved-registration-of-laser-range-data","status":"publish","type":"tkuisotope","link":"\/jase\/?tkuisotope=large-scale-3d-scene-reconstruction-with-improved-registration-of-laser-range-data","title":{"rendered":"Large Scale 3D Scene Reconstruction with Improved Registration of Laser Range Data"},"content":{"rendered":"\n
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<\/i> 2013<\/a><\/p>\n<\/div>\n\n\n\n

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<\/i> Volume 16, Issue 3<\/a><\/p>\n<\/div>\n\n\n\n

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Chia-Yen Chen, Po-Sen Huang and Ying-Chen Lin<\/i><\/a><\/p>\n\n\n\n

Department of Computer Science and Information Engineering, National University of Kaohsiung, Kaohsiung, Taiwan, R.O.C.<\/p>\n<\/div>\n\n\n\n

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Received:\u00a0February 4, 2013
Accepted:\u00a0June 28, 2013
Publication Date:\u00a0June 1, 2013<\/p>\n<\/div>\n<\/div>\n\n\n\n

\"\u4e0a\u50b3\u5716\u7247\"\n\n\n

Hardware setup of the LIDAR for 3D scene recon struction.<\/p>\n<\/div>\n<\/div>\n\n\n\n

<\/i> Copyright <\/strong>The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0)<\/a>, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.<\/p>\n\n\n\n

Download Citation:  BibTeX <\/a>| http:\/\/dx.doi.org\/10.6180\/jase.2013.16.3.02<\/a>  <\/p>\n\n\n\n

Download PDF<\/a><\/p>\n\n\n\n

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The paper proposes two approaches to improve the Iterative Closest Point (ICP) algorithm in the registration of large scale range data obtained by a Velodyne LIDAR at different locations in an outdoor environment. The first proposed approach discards points that cannot be matched in the datasets during the registration process to prevent errors from these points from affecting the results. The second approach extracts feature points that are representative of the datasets to perform the registration process and similarly preventing mismatching points from affecting the results. Experiments show that both approaches perform better than the original ICP algorithm.<\/p>\n\n\n\n

Keywords: 3D Reconstruction; Range Data; LIDAR; Iterative Closest Point; ICP<\/em><\/p>\n\n\n\n

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  1. [1] Godbaz, J. P., Cree, M. J. and Dorrington, A. A., “Undue Influence: Mitigating Range-Intensity Coupling in AMCW ‘Flash’ LiDAR Using Scene Texture,” Proc. IVCNZ, pp. 304-309 (2009). doi: 10.1109\/IVCNZ.2009.5378390<\/li>\n
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