From KitwarePublic

Contents 1 Background 2 File formats 3 Data structures 4 Algorithms

Background

As LiDAR sensors become cheaper and more readily available, it seems important for ITK to support data acquired by these sensors.

File formats

• PTX (Leica scanners)
• Other scanner file formats (Velodyne, etc.)

Data structures

• itkGridMesh - a class that combines the neighborhood functionality of itkImage (getUpperNeighbor, getLowerNeighbor, getRightNeighbor, getLeftNeighbor) with the 3D mesh type operations (FindPointsInRadius(center, radius), etc)
  • Ray/Triangle (Ray/Mesh) intersections
  • Normal estimation

Algorithms

• LiDAR segmentation
  • Region growing (possibly on the proposed itkGridMesh structure? Or on a standard itk Vector Image?)
• LiDAR/3D Model registration
  • Spin Images
  • ICP (already some ICP methods in ITK)