Robust methods for feature extraction from mobile laser scanning 3D point clouds
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Three dimensional point cloud data obtained from mobile laser scanning systems commonly contain outliers. In the presence of outliers most of the currently used methods such as principal component analysis for point cloud processing and feature extraction produce inaccurate and unreliable results. This paper investigates the problems of outliers, and explores advantages of recently introduced statistically robust methods for automatic robust feature extraction. The robust algorithms outperform classical methods and show distinct advantages over well-known robust methods such as RANSAC in terms of accuracy and robustness. This paper shows the importance and advantages of several recently introduced robust statistics based algorithms for (i) planar surface fitting, (ii) surface normal estimation, (iii) edge detection, and (iv) segmentation. Experimental results for real mobile laser scanning point cloud data consisting of planar and non-planar complex objects surfaces show the proposed robust methods are more accurate and robust. The robust algorithms have potential for surface reconstruction, 3D modelling, registration, and quality control for point cloud data.
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Nurunnabi, Abdul; Belton, David; West, Geoff (2012)Objectives: Surface reconstruction and fitting for geometric primitives and three Dimensional (3D) modeling is a fundamental task in the field of photogrammetry and reverse engineering. However it is impractical to get ...
Nurunnabi, A.; Belton, David; West, Geoff (2014)This paper proposes robust methods for local planar surface fitting in 3D laser scanning data. Searching through the literature revealed that many authors frequently used Least Squares (LS) and Principal Component Analysis ...
Nurunnabi, A.; Belton, David; West, Geoff (2012)It is impractical to imagine point cloud data obtained from laser scanner based mobile mapping systems without outliers. The presence of outliers affects the most often used classical statistical techniques used in laser ...