Analyzing LiDAR scan skewing and its impact on scan matching

Anas Al-Nuaimi; Wilder Lopes; Paul Zeller; Adrian Garcea; Cassio Lopes; Eckehard Steinbach

doi:10.1109/IPIN.2016.7743598

Analyzing LiDAR scan skewing and its impact on scan matching

Anas Al-Nuaimi
, Wilder Lopes
, Paul Zeller
, Adrian Garcea
, Cassio Lopes
, Eckehard Steinbach

Technical University of Munich
Signal Processing Lab
NavVis GmbH

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

20 Citations (Scopus)

Abstract

This paper presents a systematic study of the scan skewing problem. Scan skewing is the non-rigid deformation of point clouds acquired by LiDAR's and is the result of their sequential scanning nature. We theoretically analyze the impact of skewing on scan matching and subsequently quantify the impact using synthetic LiDAR data with controlled skew distortions. We also show how the Geometric-Algebra LMS, an iterative point set registration filter, can be tuned to incorporate skewing aware weights to reduce the impact of skewing on scan matching. Results with real 3D LiDAR data are also presented.

Original language	English
Title of host publication	2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN)
Publisher	IEEE
Pages	1-8
Number of pages	8
ISBN (Print)	978-1-5090-2426-1
DOIs	https://doi.org/10.1109/IPIN.2016.7743598
Publication status	Published - 7 Oct 2016
Externally published	Yes
Event	2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN) - Alcala de Henares, Spain Duration: 4 Oct 2016 → 7 Oct 2016

Conference

Conference	2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN)
Period	4/10/16 → 7/10/16

Access to Document

10.1109/IPIN.2016.7743598

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7743598

Cite this

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title = "Analyzing LiDAR scan skewing and its impact on scan matching",

abstract = "This paper presents a systematic study of the scan skewing problem. Scan skewing is the non-rigid deformation of point clouds acquired by LiDAR's and is the result of their sequential scanning nature. We theoretically analyze the impact of skewing on scan matching and subsequently quantify the impact using synthetic LiDAR data with controlled skew distortions. We also show how the Geometric-Algebra LMS, an iterative point set registration filter, can be tuned to incorporate skewing aware weights to reduce the impact of skewing on scan matching. Results with real 3D LiDAR data are also presented.",

author = "Anas Al-Nuaimi and Wilder Lopes and Paul Zeller and Adrian Garcea and Cassio Lopes and Eckehard Steinbach",

year = "2016",

month = oct,

day = "7",

doi = "10.1109/IPIN.2016.7743598",

language = "English",

isbn = "978-1-5090-2426-1",

pages = "1--8",

booktitle = "2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN)",

publisher = "IEEE",

note = "2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN) ; Conference date: 04-10-2016 Through 07-10-2016",

}

Al-Nuaimi, A, Lopes, W, Zeller, P, Garcea, A, Lopes, C & Steinbach, E 2016, Analyzing LiDAR scan skewing and its impact on scan matching. in 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN)., 7743598, IEEE, pp. 1-8, 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 4/10/16. https://doi.org/10.1109/IPIN.2016.7743598

TY - GEN

T1 - Analyzing LiDAR scan skewing and its impact on scan matching

AU - Al-Nuaimi, Anas

AU - Lopes, Wilder

AU - Zeller, Paul

AU - Garcea, Adrian

AU - Lopes, Cassio

AU - Steinbach, Eckehard

PY - 2016/10/7

Y1 - 2016/10/7

N2 - This paper presents a systematic study of the scan skewing problem. Scan skewing is the non-rigid deformation of point clouds acquired by LiDAR's and is the result of their sequential scanning nature. We theoretically analyze the impact of skewing on scan matching and subsequently quantify the impact using synthetic LiDAR data with controlled skew distortions. We also show how the Geometric-Algebra LMS, an iterative point set registration filter, can be tuned to incorporate skewing aware weights to reduce the impact of skewing on scan matching. Results with real 3D LiDAR data are also presented.

AB - This paper presents a systematic study of the scan skewing problem. Scan skewing is the non-rigid deformation of point clouds acquired by LiDAR's and is the result of their sequential scanning nature. We theoretically analyze the impact of skewing on scan matching and subsequently quantify the impact using synthetic LiDAR data with controlled skew distortions. We also show how the Geometric-Algebra LMS, an iterative point set registration filter, can be tuned to incorporate skewing aware weights to reduce the impact of skewing on scan matching. Results with real 3D LiDAR data are also presented.

UR - https://ieeexplore.ieee.org/document/7743598/

U2 - 10.1109/IPIN.2016.7743598

DO - 10.1109/IPIN.2016.7743598

M3 - Conference contribution

SN - 978-1-5090-2426-1

SP - 1

EP - 8

BT - 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

PB - IEEE

T2 - 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

Y2 - 4 October 2016 through 7 October 2016

ER -

Analyzing LiDAR scan skewing and its impact on scan matching

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