The comparison of 2D and 3D detectors for TLS data registration – preliminary results

Jakub Markiewicz , Łukasz Markiewicz , Piotr Jan Foryś


This paper presents the analysis of possible methods of a terrestrial laser scanning (TLS) data registration using 2D/3D detectors and descriptors. The developed approach, where point clouds are processed in form of panoramic images, orthoimages and 3D data, was described. The accuracy of the registration process was preliminary verified. The two approaches were analysed and compared: the 2D SIFT (Scale-Invariant Feature Transform) detector and descriptor with the rasterized TLS data and the 3D SIFT detector with the 3D FPFH (Fast Point Feature Histograms) descriptor. The feature points were found and preliminary matched using the OpenCV and PCL (Point Cloud Library) libraries. In order to find the best point cloud representation for the registration process, both the percentage and distribution of the correctly detected and matched points were analysed. The materials consisted of the point clouds of two chambers from the Museum of King John III’s Palace in Wilanów. They were acquired using the Z+F 5006h and 5003 TLS scanners. The performed analysis showed that the lowest RMSE values were for the 2D detectors and orthoimages. However, in the case of the point number and distribution, better results were obtained for using the 3D detector.
Author Jakub Markiewicz (FGC / DPTSIS)
Jakub Markiewicz,,
- Department of Photogrammetry, Teledetection and Spatial Information Systems
, Łukasz Markiewicz (FM / IMPh)
Łukasz Markiewicz,,
- The Institute of Micromechanics and Photonics
, Piotr Jan Foryś (FM / IMPh)
Piotr Jan Foryś,,
- The Institute of Micromechanics and Photonics
Publication size in sheets0.5
Book Cardaci A., Fassi F., Remondino F. (eds.): ISPRS – Proceedings of the Workshop, The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol. XLII-2/W9, 2019, International Society for Photogrammetry and Remote Sensing
Keywords in Englishcultural heritage, TLS data registration, feature-based method, 2D and 3D detectors, accuracy analysis
Languageen angielski
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