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VLP-16(3S Maker Version)
5
Transcript
THANKS
FOR
LISTENING
NYCU
NYCU
Research
Purpose
Instruments
Velodyne VLP-16
Syrp Genie
Instruments
1. VLP-16
2. Syrp Genie
Calibration
3. Mapping Frame
R
Mz
Solutions
Equations
Alignment
Visualization
Registration
PCA/NDT-ICP
Rigid Transformation
PCA Projection
Applied
Method
NDT : Calculate Initial Transform
ICP : Fine Registration
PROCEDURE
Procedure
CSF
+ICP
(Cloth Simulation Filter)
DEM
Scanned Area
Processing...
Results
Results
and
Comparison
Rigid Transformation vs PCA/NDT-ICP
PCA/NDT-ICP
Rigid Transformation
time: 3062 sec
time: 2953 sec
DEM
DEM
process in CloudCompare
Surface points Subsample(optional)
Calculate Normals
DEM
Ground Points
Delaunay 2.5D Mesh(Triangularizaion)
Subsample from Mesh
Rasterize
Evaluation
Frame by Frame
Cumulate
Conclusion