GLOBAL REFINEMENT OF TERRESTRIAL LASER SCANNER DATA REGISTRATION USING WEIGHTED SENSOR POSES

Abstract. Terrestrial laser scanner (TLS) sensor captures highly dense and accurate point clouds quite useful for indoor and outdoor mapping, navigation, 3D reconstruction, surveillance, industrial projects, infrastructure management, and others. In this paper, we present a global registration method that weights the sensor poses for refinement of TLS data registration. Our global refinement method assumes that the variance-covariance matrix that describes the uncertainty of sensor poses is available to refine the registration errors. The effectiveness of the proposed method is demonstrated with TLS dataset obtained into outdoor environment. Our results show that the weighting the sensor poses obtained in registration task improves the positional accuracy of TLS sensor.