Surface Modelling of Urban 3d Objects from Vehicle-borne Laser Range Data

In this paper, a method is presented to generate surface model of urban out-door environment using vehicle-borne laser range scanners, which have been developed in Konno et al.[11]. A classification is conducted first, where range points are divided into the groups of vertical building surface, road surface, other surface, window, tree and others, unknown objects. Erroneous measurement are corrected, e.g. window data or discarded, e.g. irregular data. Volumetric modelling and marching cube method are exploited in this research to model both surface-structured objects, e.g. building and road surface, and volume-structured objects, e.g. tree. Estimates for signed distance are proposed. Through an experiment, it is demonstrated that urban out-door environment can be reconstructed with high automation and efficiency using our method. * Corresponding author: Huijing Zhao, [email protected]