Apparatus and method for efficient scanner trajectory reconstruction from mobile LIDAR point cloud
AssigneeOregon State University
InventorsErzhuo Che, Michael Olsen
Life of this patent
Estimating the term…
Abstract
An efficient approach to reconstruct the scanner trajectory of the mobile LIDAR system from the point cloud with minimal user parameters. The process of reconstructing trajectory comprises four steps: (1) spin rate estimation, (2) scan plane estimation, (3) scan origin estimation, and (4) global smoothing.
Claims20
A method for reconstructing a trajectory of a scanner of a mobile Light Detection and Ranging system, the method comprising:
- communicating with the mobile Light Detection and Ranging system;
- downloading, based on the communicating, data of a file format for interchange and archiving of point cloud data to extract scanner data, wherein the point cloud data is associated with the mobile Light Detection and Ranging system;
- extracting the scanner data associated with the mobile Light Detection and Ranging system, wherein the scanner data includes angular resolution between pulses from the mobile Light Detection and Ranging system;
- estimating spin rate by a first application of the angular resolution between the pulses;
- estimating a scan plane by a second application of the estimated spin rate to obtain orientation of the scanner of the mobile Light Detection and Ranging system;
- estimating a scan origin using the estimated scan plane;
- and
- performing global smoothing of the estimated scan origin to reconstruct the trajectory of the scanner.
A non-transitory machine-readable storage media having instructions stored thereon, that when executed, cause one or more processors to perform a method to reconstruct a trajectory of a scanner of a mobile Light Detection and Ranging system, the method comprising:
- communicating with the mobile Light Detection and Ranging system;
- downloading, based on the communicating, data of a file format for interchange and archiving of point cloud data to extract scanner data, wherein the point cloud data is associated with the mobile Light Detection and Ranging system;
- extracting the scanner data associated with the mobile Light Detection and Ranging system, wherein the scanner data includes angular resolution between pulses from the mobile Light Detection and Ranging system;
- estimating spin rate by a first application of the angular resolution between the pulses;
- estimating a scan plane by a second application of the estimated spin rate to obtain orientation of the scanner of the mobile Light Detection and Ranging system;
- estimating a scan origin using the estimated scan plane;
- and
- performing global smoothing of the estimated scan origin to reconstruct the trajectory of the scanner.
An apparatus to reconstruct a trajectory of a scanner from a mobile Light Detection and Ranging system, the apparatus comprising:
- a memory;
- a processor coupled to the memory;
- and
- a communication interface coupled to the processor, wherein the processor is to:
- communicate with the mobile Light Detection and Ranging system;
- download, based on the communicating, data of a file format for interchange and archiving of point cloud data to extract scanner data, wherein the point cloud data is associated with the mobile Light Detection and Ranging system;
- extract the scanner data associated with the mobile Light Detection and Ranging system, wherein the scanner data includes angular resolution between pulses from the mobile Light Detection and Ranging system;
- estimate spin rate by a first application of the angular resolution between the pulses;
- estimate a scan plane by a second application of the estimated spin rate to obtain orientation of the scanner of the mobile Light Detection and Ranging system;
- estimate a scan origin using the estimated scan plane;
- and
- perform global smoothing of the estimated scan origin to reconstruct the trajectory of the scanner.
Dependencies are inferred from the claim text.