Qualification et amélioration de la précision de systèmes de balayage laser mobiles par extraction d’arêtes

Abstract : Over the past few decades, the development of land-based Mobile Mapping Systems (MMS), supported by significant technological progress, has become more prominent. It has been motivated by the growing need for precise geographic information about the environment. In this thesis, we consider approaches for the acquisition of mobile point clouds with topographic quality (centimeter-level accuracy). The aim is to develop techniques for data quality assessment and improvement. In particular, we eliminate the systematic errors inherent to an MMS data using appropriate calibration and registration methods.We describe a novel approach to assess the accuracy and/or the precision of mobile laser point clouds. It is based on the extraction and comparison of line features detected within the urban scene. The computed average distance between corresponding pairs of line segments, taking advantage of a modified Hausdorff distance, is used to evaluate the MMS data with respect to a reference data set. For edge extraction, we propose a method which relies on the intersections between planes modelled via the RANSAC algorithm refined by an analysis of connected components. We also consider an approach to correct point clouds using a line-based rigid registration method. Finally, we study the use of line segments for estimating the boresight angles of a land-based mobile mapping system. We apply our methods to synthetic data and to real data acquired as part of the TerraMobilita project.
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Martyna Poreba. Qualification et amélioration de la précision de systèmes de balayage laser mobiles par extraction d’arêtes. Autre [cs.OH]. Ecole Nationale Supérieure des Mines de Paris, 2014. Français. ⟨NNT : 2014ENMP0012⟩. ⟨pastel-01068828⟩

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