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Potential of ILRIS3D Intensity Data for Planar Surfaces Segmentation 英文参考文献
Sensors 2009, 9, 5770-5782; doi:10.3390/OPEN ACCESS
sensors
ISSN 1424-8220
/journal/sensors
Article
Potential of ILRIS3D Intensity Data for Planar Surfaces
Segmentation
Chi-Kuei Wang * and Yao-Yu Lu
Department of Geomatics, National Cheng Kung University, 1 University Road, Tainan 701, Taiwan;
E-Mail: alcazer@
* Author to whom correspondence should be addressed; E-Mail: chikuei@.tw;
Tel.: +886-6-275-7575 ext. 63825; Fax: +886-6-237-5764
Received: 27 April 2009; in revised form: 5 June 2009 / Accepted: 15 July 2009 /
Published: 20 July 2009
Abstract: Intensity value based point cloud segmentation has received less attention
because the intensity value of the terrestrial laser scanner is usually altered by receiving
optics/hardware or the internal propriety software, which is unavailable to the end user. We
offer a solution by assuming the terrestrial laser scanners are stable and the behavior of the
intensity value can be characterized. Then, it is possible to use the intensity value for
segmentation by observing its behavior, i.e., intensity value variation, pattern and presence
of location of intensity values, etc. In this study, experiment results for characterizing the
intensity data of planar surfaces collected by ILRIS3D, a terrestrial laser scanner, are
reported. Two intensity formats, grey and raw, are employed by ILRIS3D. It is found from
the experiment results that the grey intensity has less variation; hence it is preferable for
point cloud segmentation. A warm-up time of approximate 1.5 hours is suggested for more
stable intensity data. A segmentation method based on the visual cues of the intensity
images sequence, which contains consecutive intensity images, is proposed in order to
segment the 3D laser points of ILRIS3D. This method is unique to ILRIS3D data and does
not require radiometric calibration.
Keywords: LIDAR; point cloud; laser scanning; ILRIS3D; lidar i
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