drone to laser scan registration

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tbwester
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drone to laser scan registration

Post by tbwester » Mon Jan 05, 2015 9:45 pm

I scanned a dirt pile with a C10. and Also flew my drone over the pile, collecting images which I used to create a point cloud.

I am trying to register the two together.

I get them aligned with ~1ft but when I choose the c2c alignment in Cloud Compare I never get a good result.

Any tips?

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Re: drone to laser scan registration

Post by danielgm » Mon Jan 05, 2015 10:26 pm

Do you use the 'point-pair based align' tool or the 'automatic (ICP)' one?
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Re: drone to laser scan registration

Post by FVSTech » Mon Jan 05, 2015 10:30 pm

We are currently doing this manually from scan to scan. I'm interested to see if someone else has a better, more automated workflow.

We're using a Phantom 2 Vision+. The images can be lens corrected decently within Photoshop, but unless you are the exact same elevation each scan, the auto-align feature in photoshop won't work well over multiple images.

Instead, we've been doing all of our color correction and registration manually scan by scan.

Hopefully someone will chime in with a better way!

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Re: drone to laser scan registration

Post by 3DForensics » Tue Jan 06, 2015 2:08 am

If the two point clouds are similar and there were little changes between the two, then I can't see why they would not register properly except for where the pile is like a cone shape that is symmetrical around the (vertical) axis of rotation. In this case, I would stick with manual point picking alignment.

Another possible issue could be scale of your project from photogrammetry. If you have very discreet points for picking during registration, you can use the "scale" option in CloudCompare which will not only register, but also scale your photogrammetry point cloud to a best fit. I would only use this if you have very unique geometry or lots of discreet points for manual selection.

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Re: drone to laser scan registration

Post by IngSayyad » Tue Jan 06, 2015 9:49 am

How you scaled your photogrammetric data.
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Re: drone to laser scan registration

Post by Dave Andrews » Tue Jan 06, 2015 12:43 pm

Not sure what UAV you are using. Scale is the issue I deal with, our UAV will not scale things properly without control.
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Re: drone to laser scan registration

Post by tbwester » Tue Jan 06, 2015 2:48 pm

danielgm wrote:Do you use the 'point-pair based align' tool or the 'automatic (ICP)' one?
ICP, the point pair crashes.

I used c2c on the 8 scans I took with my c10, and those registered fine. The drone point cloud is scaled correctly.

The drone point cloud and 3D surface looks amazing. But I'm trying to figure out just how closely it is to reality (C10 point cloud).

Thad

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Re: drone to laser scan registration

Post by danielgm » Tue Jan 06, 2015 3:13 pm

So you should indeed relax the scale as suggested by other users as this is generally an issue with SFM clouds.

And I remember a similar crash issue with the point-pair based alignment tool: http://www.danielgm.net/cc/forum/viewtopic.php?t=1100
We don't know where it comes from but I'd be interested to know if this solution works for you as well ;).
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Re: drone to laser scan registration

Post by tbwester » Tue Jan 06, 2015 3:21 pm

danielgm wrote:So you should indeed relax the scale as suggested by other users as this is generally an issue with SFM clouds.

And I remember a similar crash issue with the point-pair based alignment tool: http://www.danielgm.net/cc/forum/viewtopic.php?t=1100
We don't know where it comes from but I'd be interested to know if this solution works for you as well ;).
I dont understand. Relax the scale? I've tried both with and without checking the scale box in ICP. Neither work.

The scale is correct between the two clouds. But the c2c algo cannot find a match.

I will try the crash fix.

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Re: drone to laser scan registration

Post by tbwester » Tue Jan 06, 2015 3:22 pm

IngSayyad wrote:How you scaled your photogrammetric data.
Picking common points and scaling based on the difference in distance.

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