Proposals:LiDAR Data Support

From KitwarePublic
(Redirected from LiDAR Data Support)
Jump to navigationJump to search


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


  • 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)