NDLI: Localized Registration of Point Clouds of Botanic Trees

Content Provider	IEEE Xplore Digital Library
Author	Bucksch, A. Khoshelham, K.
Copyright Year	2004
Abstract	A global registration is often insufficient for estimating dendrometric characteristics of trees because individual branches of the same tree may exhibit different positions between two scanning procedures. Therefore, we introduce a localized approach to register point clouds of botanic trees. Given two roughly registered point clouds PC₁ and PC₂ of a tree, we apply a skeletonization method to both point clouds. Based on these two skeletons, initial correspondences between branch segments of both point clouds are established to estimate local transformation parameters. The transformation estimation relies on minimizing the distance between the points in PC₁ and the skeleton of PC₂. The performance of the method is demonstrated on two example trees. It is shown that significant improvements can be achieved for the registration of fine branches. These improvements are quantified as the residual point-to-line distances before and after the localized fine registration. In our experiment, the residual error after the local registration is on an average of 5 mm over 90 skeleton segments, which is about three times smaller than the average residual error of the initial rough registration.
Sponsorship	IEEE Geoscience and Remote Sensing Society
Starting Page	631
Ending Page	635
Page Count	5
File Size	756070
File Format	PDF
ISSN	1545598X
Volume Number	10
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-05-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Skeleton Vegetation Remote sensing Clouds Octrees Estimation Lasers skeletonization Automation forestry image registration laser scanning least squares parameter estimation
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering Geotechnical Engineering and Engineering Geology

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