@inproceedings{cd993aef61764969be2f0a50821fe932,
title = "An automated method for registering lidar data in restrictive, tunnel-like environments",
abstract = "A method for automated registration of lidar datasets specifically tailored to geometries with high length-to-width ratios operates on data in curvilinear coordinates. It relaxes the minimum change in perspective requirement between neighboring datasets typical of other algorithms. Range data is filtered with a series of discrete Gaussian and derivative of Gaussian filters to form a second-order Taylor series approximation to the surface about each sampled point. Principal curvatures with respect to the surface normal are calculated and compared across neighboring datasets to determine homologies and the best fit transfer matrix. The method reduces raw data volume requirements and processing time.",
keywords = "3D registration, invariant feature, laser radar, scale invariance, spherical coordinate, surface matching, tunnel",
author = "Zacherl, {Walter D.} and Eustace Dereniak and Furenlid, {Lars R} and Clarkson, {Eric W}",
note = "Publisher Copyright: {\textcopyright} 2016 SPIE.; Laser Radar Technology and Applications XXI ; Conference date: 19-04-2016 Through 20-04-2016",
year = "2016",
doi = "10.1117/12.2223453",
language = "English (US)",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "SPIE",
editor = "Kamerman, {Gary W.} and Turner, {Monte D.}",
booktitle = "Laser Radar Technology and Applications XXI",
}