A Closed-Form Expression of the Positional Uncertainty for 3D Point Clouds

@article{Bae2009ACE,
  title={A Closed-Form Expression of the Positional Uncertainty for 3D Point Clouds},
  author={Kwang-Ho Bae and David Belton and Derek D. Lichti},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year={2009},
  volume={31},
  pages={577-590}
}
We present a novel closed-form expression of positional uncertainty measured by a near-monostatic and time-of-flight laser range finder with consideration of its measurement uncertainties. An explicit form of the angular variance of the estimated surface normal vector is also derived. This expression is useful for the precise estimation of the surface normal vector and the outlier detection for finding correspondence in order to register multiple three-dimensional point clouds. Two practical… CONTINUE READING
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A Method for Automated Registration of Unorganised Point Clouds

  • K.-H. Bae, D. D. Lichti
  • Int’l Soc. Photogrammetry and Remote Sensing…
  • 2008
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Correction of Laser Scanning Intensity Data: Data and Model-Driven Approaches

  • B. Höfle, N. Pfeifer
  • The Int’l Soc. Photogrammetry and Remote Sensing…
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Pre-Processing Procedures for Raw Point Clouds from Terrestrial Laser Scanners

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