Sensor-topology based simplicial complex reconstruction from mobile laser scanning

Stéphane Guinard (1) , Bruno Vallet (1)

1 LaSTIG - Laboratoire des Sciences et Technologies de l'Information Géographique

We propose a new method for the reconstruction of simplicial complexes (combining points, edges and triangles) from 3D point clouds from Mobile Laser Scanning (MLS). Our main goal is to produce a reconstruction of a scene that is adapted to the local geometry of objects. Our method uses the inherent topology of the MLS sensor to define a spatial adjacency relationship between points. We then investigate each possible connexion between adjacent points and filter them by searching collinear structures in the scene, or structures perpendicular to the laser beams. Next, we create triangles for each triplet of self-connected edges. Last, we improve this method with a regularization based on the co-planarity of triangles and collinearity of remaining edges. We compare our results to a naive simplicial complexes reconstruction based on edge length.

Nous présentons une nouvelle méthode pour la reconstruction de complexes simpliciaux (ensembles de points, segments et triangles) à partir de nuages de points 3D obtenus par LiDAR mobile, à balayage plan. Notre méthode utilise la topo-logie inhérente au capteur LiDAR pour définir une relation spatiale entre les points. Pour cela, nous examinons chaque connexion possible entre points, pondérée en fonction de sa distance au capteur, et les filtrons en privilégiant les structures collinéaires, ou perpendiculaires aux impulsions du laser. Ensuite, nous créons et filtrons des triangles pour chaque triplet de segments connectés entre eux, en fonction de leur coplanarité locale. Nous comparons nos résultats à une reconstruction non pondérée d'un complexe simplicial. Abstract We propose a new method for the reconstruction of simplicial complexes (combining points, edges and triangles) from 3D point clouds from plane sweep Mobile Laser Scanning (MLS). Our method uses the inherent topology of the MLS sensor to define a spatial adjacency relationship between points. We then investigate each possible connexion between adjacent points, weighted according to its distance to the sensor, and filter them by searching collinear structures in the scene, or structures perpendicular to the laser beams. Next, we create and filter triangles for each triplet of self-connected edges and according to their local planarity. We compare our results to an unweighted simplicial complex reconstruction.

Mots clés: sensor topology; Simplicial complexes; 3D reconstruction; point clouds; Mobile Laser Scanning

Mots clés: nuages de points; reconstruction 3D; Complexes simpliciaux; Lidar mobile; topologie capteur

Domaines: Géométrie algorithmique [cs.CG]; Vision par ordinateur et reconnaissance de formes [cs.CV]; Apprentissage [cs.LG]; Traitement des images [eess.IV]; Traitement du signal et de l'image [eess.SP]

Stéphane Guinard, Bruno Vallet. Sensor-topology based simplicial complex reconstruction from mobile laser scanning. IV-2, pp.121-128, 2018, ⟨10.5194/isprs-annals-IV-2-121-2018⟩. ⟨hal-02181493⟩