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The integration of structure from motion (SFM) and unmanned aerial vehicle (UAV) technologies has allowed for the generation of very high-resolution three-dimensional (3D) point cloud data (up to millimeters) to detect and monitor surface changes. However, a bottleneck still exists in accurately and rapidly registering the point clouds at different times. The existing point cloud registration algorithms, such as the Iterative Closest Point (ICP) and the Fast Global Registration (FGR) method, were mainly developed for the registration of small and static point cloud data, and do not perform well when dealing with large point cloud data with potential changes over time. In particular, registering large data is computationally expensive, and the inclusion of changing objects reduces the accuracy of the registration. In this paper, we develop an AI-based workflow to ensure high-quality registration of the point clouds generated using UAV-collected photos. We first detect stable objects from the ortho-photo produced by the same set of UAV-collected photos to segment the point clouds of these objects. Registration is then performed only on the partial data with these stable objects. The application of this workflow using the UAV data collected from three erosion plots at the East Tennessee Research and Education Center indicates that our workflow outperforms the existing algorithms in both computational speed and accuracy. This AI-based workflow significantly improves computational efficiency and avoids the impact of changing objects for the registration of large point cloud data.
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A Comparison of Point Cloud Registration Techniques for On-Site Disaster Data from the Surfside Structural Collapse
3D representations of geographical surfaces in the form of dense point clouds can be a valuable tool for documenting and reconstructing a structural collapse, such as the 2021 Champlain Towers Condominium collapse in Surfside, Florida. Point cloud data reconstructed from aerial footage taken by uncrewed aerial systems at frequent intervals from a dynamic search and rescue scene poses significant challenges. Properly aligning large point clouds in this context, or registering them, poses noteworthy issues as they capture multiple regions whose geometries change over time. These regions denote dynamic features such as excavation machinery, cones marking boundaries and the structural collapse rubble itself. In this paper, the performances of commonly used point cloud registration methods for dynamic scenes present in the raw data are studied. The use of Iterative Closest Point (ICP), Rigid - Coherent Point Drift (CPD) and PointNetLK for registering dense point clouds, reconstructed sequentially over a time- frame of five days, is studied and evaluated. All methods are compared by error in performance, execution time, and robustness with a concluding analysis and a judgement of the preeminent method for the specific data at hand is provided.
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- Award ID(s):
- 2140451
- PAR ID:
- 10385223
- Date Published:
- Journal Name:
- IEEE International Symposium on Safety Security Rescue Robotics
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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