[Insight-users] experience ITK : Registering 3D Laser Scans.

[Luis Ibanez]

Hi Bernhard,

ITK provides an open framework for registration.

However, nothing has been implemented to date
for specifically register laser scans.

You could perform registration of clusters of
points by using the ICP method implemented in
ITK. That will consider the (xyz) part of your
(xyzrgb) data.
http://www.itk.org/Insight/Doxygen/html/classitk_1_1IterativeClosestPointMetric.html

In order to use the (rgb) part of your data
you could create a new ITK PointSetToPointSet
metric.  It will not be trivial, but it will
certainly be fun.
http://www.itk.org/Insight/Doxygen/html/classitk_1_1PointSetToPointSetMetric.html


With the current framework you will still
take advange of other components, such as
the optimizers and spatial transforms.

One tempting approach in your case is to generate
a volume containing the distance map to one of the
point sets, and register the other point set against
this distance map. This reduces the burden of finding
corresponding points between the two point sets, which
is one of the most time consuming parts of point set
registration.

Since ITK supports arbitrary pixels types you could
define this distance map image as having both a distance
value and RGB components per pixel. In that way your
PointSetToImage metric could integrate both the xyz and
the rgb information of the laser scan.


Please let us know if you have further questions.


Thanks


   Luis



---------------------------
Bernhard Mayrhofer wrote:

> Hello,
>  
> I´m a student from the vienna technical university and i started to 
> write my master thesis. my topic is about "automatic coregistration of 
> 3d laser scans". i have aquired raw data with xyzrgb values, and for 
> implementation i´m searching for support tools. i have no experience in 
> program ITK.
> maybe you have more expierence programming similar exercises, what do 
> you think, is ITK a appropiate toolkit for the impementation? or do you 
> know other free on the web available toolkits, which would suit better 
> to this application?
>  
> Thank you
> Bernhard