Method and apparatus for processing and aligning data point clouds

摘要

An approach is provided to efficiently and accurately process and align of one or more portions of a plurality of data point clouds. A processing platform may cause a segmentation of at least one first geo-registered point cloud and at least one second geo-registered point cloud based, at least in part, on an application of a ground surface threshold to one or more respective points in the at least one first geo-registered point cloud and the at least one second geo-registered point cloud. The processing platform may further cause a processing and/or facilitating a processing of the one or more respective points that are above the ground surface threshold to determine a horizontal offset for a horizontal alignment of the at least one first geo-registered point cloud and the at least one second geo-registered point cloud. The processing platform may also cause a processing and/or facilitating a processing of the one or more respective points that are below the ground surface threshold to determine a vertical offset for a vertical alignment of the at least one first geo-registered point cloud and the at least one second geo-registered point cloud.

主权项

1. A method for accurate aligning of one or more portions of two or more data point clouds comprising:
receiving at a data collection server geo-location data sent over a communication network from at least one vehicle, the data collection server comprising a processor and a memory that stores the geo-location data as at least one first geo-registered point cloud and at least one second geo-registered point cloud, wherein the processor: determines trace information for the at least one vehicle capturing the at least one first geo-registered point cloud and the at least one second geo-registered point cloud; determines a ground surface threshold by measuring minimum elevation of LIDAR (Light Detection And Ranging) data points underneath the trace information; segments the at least one first geo-registered point cloud and the at least one second geo-registered point cloud based on an application of the ground surface threshold to one or more respective points in the at least one first geo-registered point cloud and the at least one second geo-registered point cloud; processes the one or more respective points that are above the ground surface threshold to determine a horizontal offset for horizontally aligning the at least one first geo-registered point cloud and the at least one second geo-registered point cloud; processes the one or more respective points that are below the ground surface threshold to determine a vertical offset for a vertical alignment of the at least one first geo-registered point cloud and the at least one second geo-registered point cloud; processes the vertical offset to determine a mean value based on one or more height differences between one or more minimum heights along the ground surface in the at least one first geo-registered point cloud and the ground surface in the at least one second geo-registered point cloud; and vertically aligns the horizontally aligned the at least one first geo-registered point cloud and the at least one second geo-registered point cloud based on the mean value, wherein the horizontal alignment, the vertical alignment, or a combination thereof is/are based on one or more iteration thresholds determined by a user, by an algorithm, or a combination thereof.