An automated method for registering lidar data in restrictive, tunnel-like environments

Walter D. Zacherl, Eustace Dereniak, Lars R Furenlid, Eric W Clarkson

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish (US)
Title of host publicationLaser Radar Technology and Applications XXI
EditorsGary W. Kamerman, Monte D. Turner
ISBN (Electronic)9781510600737
StatePublished - 2016
EventLaser Radar Technology and Applications XXI - Baltimore, United States
Duration: Apr 19 2016Apr 20 2016

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X


OtherLaser Radar Technology and Applications XXI
Country/TerritoryUnited States


  • 3D registration
  • invariant feature
  • laser radar
  • scale invariance
  • spherical coordinate
  • surface matching
  • tunnel

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


Dive into the research topics of 'An automated method for registering lidar data in restrictive, tunnel-like environments'. Together they form a unique fingerprint.

Cite this