Cylindrical and Polygonal Object Modelling and its use in  LiDAR Calibration and Point Cloud Registration

Chan, Ting On

Cylindrical and Polygonal Object Modelling and its use in LiDAR Calibration and Point Cloud Registration

atmire.migration.oldid	2954
dc.contributor.advisor	Lichti, Derek
dc.contributor.author	Chan, Ting On
dc.date.accessioned	2015-01-30T18:48:35Z
dc.date.available	2015-02-23T08:00:42Z
dc.date.issued	2015-01-30
dc.date.submitted	2015	en
dc.description.abstract	LiDAR systems are optical metrological instruments that capture surfaces of objects as highly redundant sets of discrete points (known as point clouds) in a 3D coordinate system from which spatial information can be extracted to support many applications. The accuracy of the LiDAR measurements can be improved by performing appropriate calibration. In this thesis, two novel cylinder-based calibration methods are presented for recovering interior systematic errors of different types of the LiDAR systems. The first method is a cylinder-based self-calibration technique which primarily uses point clouds of vertical cylindrical features captured from several static scan locations. The method is suitable for LiDAR systems with time-invariant errors. The second calibration method is for multi-beam spinning LiDAR systems. It allows frequent, repeated calibrations to be performed in either static or kinematic scanning mode for recovering the time-varying interior errors. For the calibration in kinematic mode, roadside power and lamp poles are used as the calibration references. In addition to these, a new geometric model of octagonal lamp poles along with a new model-driven point cloud registration method is proposed. The new geometric model uses the rotational symmetry property of the polygon to overcome the challenges of modelling the polygonal periphery using a single equation instead of piecewise functions. The proposed registration method is based on the model and requires only point clouds of a single octagonal lamp pole as registration primitives, and no actual overlap between the point clouds of the pole captured at different scan locations is needed. Each proposed method was individually verified with several real datasets, and most of them were also tested with some simulated datasets. The results suggest that all the proposed methods are practical and also offer improvements compared to the existing methods. The main contribution of this work is that many cylindrical and polygonal objects already exist in the built environment can now be used for sensor calibration, point cloud registration, and some other potential new applications as discussed in the last chapter of this thesis.	en_US
dc.identifier.citation	Chan, T. O. (2015). Cylindrical and Polygonal Object Modelling and its use in LiDAR Calibration and Point Cloud Registration (Doctoral thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/25511	en_US
dc.identifier.doi	http://dx.doi.org/10.11575/PRISM/25511
dc.identifier.uri	http://hdl.handle.net/11023/2049
dc.language.iso	eng
dc.publisher.faculty	Graduate Studies
dc.publisher.institution	University of Calgary	en
dc.publisher.place	Calgary	en
dc.rights	University of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subject	Remote Sensing
dc.subject	Optics
dc.subject	Engineering--Civil
dc.subject.classification	LiDAR	en_US
dc.subject.classification	Point Cloud	en_US
dc.subject.classification	Calibration	en_US
dc.subject.classification	Registration	en_US
dc.subject.classification	Cylinder	en_US
dc.subject.classification	Polygon	en_US
dc.subject.classification	Modelling	en_US
dc.subject.classification	Geometric	en_US
dc.subject.classification	Least-squares	en_US
dc.title	Cylindrical and Polygonal Object Modelling and its use in LiDAR Calibration and Point Cloud Registration
dc.type	doctoral thesis
thesis.degree.discipline	Geomatics Engineering
thesis.degree.grantor	University of Calgary
thesis.degree.name	Doctor of Philosophy (PhD)
ucalgary.item.requestcopy	true