Noise analysis and synthesis for 3D laser depth scanners
نویسندگان
چکیده
This paper analyses the noise present in range data measured by a Konica Minolta Vivid 910 scanner, in order to better characterise real scanner noise. Methods for denoising 3D mesh data have often assumed the noise to be Gaussian, and independently distributed at each mesh point. We show via measurements of an accurately machined almost planar test surface that real scanner data does not have such properties: the errors are not quite Gaussian, and more importantly, exhibit significant short range correlation. We use this to give a simple model for generating noise with similar characteristics. We also consider how noise varies with such factors as laser intensity, orientation of the surface, and distance from the scanner. Finally, we evaluate the performance of three typical mesh denoising algorithms using real and synthetic test data, and suggest that new denoising algorithms are required for effective removal of real noise.
منابع مشابه
Accuracy assessment of the FARO Focus and Leica HDS6100 panoramic- type terrestrial laser scanners through point-based and plane-based user self-calibration
SUMMARY Recent developments of terrestrial laser scanners have made these accurate and efficient survey instruments more affordable and portable. In this paper, the geometric accuracy of two terrestrial laser scanners (i.e. the FARO Focus 3D and the Leica HDS6100) is being evaluated. Both of these mid-range instruments are phase-based and have a panoramic architecture. The Focus 3D is currently...
متن کاملLaser Scanning and Its Potential to Support 3d Panoramic Recording
Today very fast terrestrial laser scanners are available which can be very well combined with panoramic cameras to make 3Dpanoramic recording possible. Due to the very precise depth information of the laser scanner and the high resolved color information provided by the CCD sensor of the panoramic camera 3D-panoramic images of high quality can be obtained. In order to assess the performance of ...
متن کاملLaser stripe peak detector for 3D scanners. A FIR filter approach - Pattern Recognition, 2004. ICPR 2004. Proceedings of the 17th International Conference on
The accuracy of a 3D reconstruction using laser scanners is significantly determined by the detection of the laser stripe. Since the energy pattern of such a stripe corresponds to a Gaussian profile, it makes sense to detect the point of maximum light intensity (or peak) by computing the zerocrossing point of the first derivative of such Gaussian profile. However, because noise is present in ev...
متن کامل3D Pose Estimation and Mapping with Time-of-Flight Cameras
Since their invention nearly a decade ago, Time-of-Flight (ToF) cameras have attracted attention in many fields, e.g. automotive engineering, industrial engineering, mobile robotics and surveillance. So far, 3D laser scanners and stereo camera systems are mostly used for these tasks due to their high measurement range and precision. Stereo vision requires the matching of corresponding points fr...
متن کامل3D Modeling and Refinement of Residential Maps Using Range Scanners
This paper introduces a method of making 3D models of buildings in a 2D residential digital map, and refining the building data in the digital map. The range image of the streets acquired by line scan laser scanners that moves in the streets is used. The pattern lines of the range image are determined using edge detection or depth analysis. Then these pattern lines are matched with pattern line...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Graphical Models
دوره 71 شماره
صفحات -
تاریخ انتشار 2009