Dense Point Cloud Mapping Based on RGB-D Camera in Dynamic Indoor Environment

Laser scanning is a popular means of acquiring the indoor scene data of buildings for a wide range of applications concerning indoor environment. During data acquisition, unwanted data points beyond the indoor space of interest can also be recorded due to the presence of openings, such as windows and doors on walls. For better visualization and further modeling, it is beneficial to filter out those data, which is often achieved manually in practice. To automate this process, an efficient image-based filtering approach was explored in this research. In this approach, a binary mask image was created and updated through mathematical morphology operations, hole filling and connectively analysis. The final mask obtained was used to remove the data points located outside the indoor space of interest. The application of the approach to several point cloud datasets considered confirms its ability to effectively keep the data points in the indoor space of interest with an average precision of 99.50%. The application cases also demonstrate the computational efficiency (0.53 s, at most) of the approach proposed.

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GEOREFERENCING AND REPROJECTION ERROR INVESTIGATION ON IMAGE BASED 3D DIGITIZATION AND MAPPING OF HISTORICAL BUILDINGS

ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences ◽

10.5194/isprs-archives-xlii-2-w11-71-2019 ◽

2019 ◽

Vol XLII-2/W11 ◽

pp. 71-75

Author(s):

C. Altuntas

Keyword(s):

Point Cloud ◽

Large Scale ◽

Cloud Model ◽

Low Cost ◽

Three Dimensional ◽

Control Points ◽

Historical Buildings ◽

Reprojection Error ◽

Dense Point ◽

Point Cloud Model

<p><strong>Abstract.</strong> Image based dense point cloud creation is easy and low-cost application for three dimensional digitization of small and large scale objects and surfaces. It is especially attractive method for cultural heritage documentation. Reprojection error on conjugate keypoints indicates accuracy of the model and keypoint localisation in this method. In addition, sequential registration of the images from large scale historical buildings creates big cumulative registration error. Thus, accuracy of the model should be increased with the control points or loop close imaging. The registration of point point cloud model into the georeference system is performed using control points. In this study historical Sultan Selim Mosque that was built in sixteen century by Great Architect Sinan was modelled via photogrammetric dense point cloud. The reprojection error and number of keypoints were evaluated for different base/length ratio. In addition, georeferencing accuracy was evaluated with many configuration of control points with loop and without loop closure imaging.</p>

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Mapping for Indoor Walking Path Using Mobile Laser Scanning

Built Environment Journal ◽

10.24191/bej.v17isi.11743 ◽

2020 ◽

Vol 17 (3) ◽

pp. 43

Author(s):

Nurfadhilah Ruslan ◽

Nur Syazwani Rosadlan ◽

Nabilah Naharudin ◽

Zulkiflee Abd Latif

Keyword(s):

Point Cloud ◽

Indoor Environment ◽

Laser Scanning ◽

Point Clouds ◽

Advance Technology ◽

Sustainable City ◽

Outdoor Walking ◽

Walking Environment ◽

Mapping Point ◽

Building Elements

Walkability is one of the keys in developing a sustainable city. These days, many cities have considered enhancing walkability for pedestrian paths to ensure the seamless walking experience for people to reach their destination. Therefore, it is very important to have a good walking environment so people will find walking pleasant. However, there was a lack of studies attempting to include indoor walking environments in their walkability analysis. Most of them only consider outdoor walking paths. This might be due to the difficulties in modelling the indoor walking environment. With the advance technology of laser scanning, it might be possible to develop an indoor walking path by using point clouds collected for a building. The usage of point clouds could make it easier to segment the building elements and obstacles in an indoor environment. In order to produce an indoor map, it is important to reconstruct the building elements such as wall, ceiling, window and door. Therefore, this paper aims to generate the indoor walking path using laser scanning point clouds showing all the options to the pedestrians.Keywords: Walkability, indoor mapping, point cloud, laser scanning, mobile laser scanning

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Building a dense surface map incrementally from semi-dense point cloud and RGBimages

Frontiers of Information Technology & Electronic Engineering ◽

10.1631/fitee.14a0260 ◽

2015 ◽

Vol 16 (7) ◽

pp. 594-606 ◽

Cited By ~ 1

Author(s):

Qian-shan Li ◽

Rong Xiong ◽

Shoudong Huang ◽

Yi-ming Huang

Keyword(s):

Point Cloud ◽

Dense Point

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