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    Method for Registering Lidar Data in Restrictive, Tunnel-Like Environments

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    Author
    Zacherl, Walter David
    Issue Date
    2016
    Keywords
    lidar
    medical imaging
    pattern recognition
    registration
    remote sensing
    Optical Sciences
    feature extraction
    Advisor
    Dereniak, Eustace
    Furenlid, Lars
    
    Metadata
    Show full item record
    Publisher
    The University of Arizona.
    Rights
    Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
    Abstract
    A new method of registering multiple range datasets collected in a GPS-denied, tunnel-like environment is presented. The method is designed to function with minimal user inputs and be effective over a wide range of changes in observation angle. The method is initially developed to operate on data in a general 2.5D coordinate system. Then, the general registration method is specifically tailored to a 2.5D spherical coordinate system. To apply the method, the range data is first filtered with a series of discrete Gaussian-based filters to construct a second-order Taylor series approximation to the surface about each sampled point. Finally, principal curvatures are calculated and compared across neighboring datasets to determine homologies and the best fit transfer matrix. The new method relaxes the minimum change in perspective requirement between neighboring datasets typical of other algorithms. Results from the application of the method on both synthetic and real-world data are shown. The real-world data comes from a series of high explosive tests performed in a tunnel environment. The tunnels were oriented horizontally in rock and constructed with boring equipment. The tunnel surfaces were surveyed with a Faro Focus3D terrestrial panorama scanning light detection and ranging (lidar) system both before and after a high explosive device was detonated inside the tunnel with the intent of documenting damage to the tunnel surface.
    Type
    text
    Electronic Dissertation
    Degree Name
    Ph.D.
    Degree Level
    doctoral
    Degree Program
    Graduate College
    Optical Sciences
    Degree Grantor
    University of Arizona
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