期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2008
卷号：XXXVII Part B1
页码：971-976
出版社：Copernicus Publications
摘要：This paper proposes a method to reconstruct the trajectory of a moving laser scanner on the basis of indoor scans made at different positions. The basic idea is that a position with respect to a measured scene is completely determined by the distances to a minimum of three intersecting planes within that scene, and therefore displacements are defined by changes in those distances between successive scans. A segmentation algorithm based on the gradients of a range image is used to extract planar features from the measured scene. The correspondence establishment between planes of two successive scans is formulated as a combinatorial problem, and a heuristic search method is employed to find combinations that indicate corresponding sets of planes between the two scans. The position of the scanner at each scan is computed by intersecting sets of four planes. An experiment with multiple scans obtained by a Faro laser scanner in an indoor environment is described, and the results show the reliability and accuracy of the proposed indoor navigation technique
