US 11,885,911 B2
Apparatus and method for efficient scanner trajectory reconstruction from mobile LIDAR point cloud
Erzhuo Che, Corvallis, OR (US); and Michael Olsen, Corvallis, OR (US)
Assigned to OREGON STATE UNIVERSITY, Corvallis, OR (US)
Filed by Oregon State University, Corvallis, OR (US)
Filed on Jul. 30, 2020, as Appl. No. 16/943,987.
Claims priority of provisional application 62/888,419, filed on Aug. 16, 2019.
Prior Publication US 2021/0048512 A1, Feb. 18, 2021
Int. Cl. G01S 17/89 (2020.01); G01S 7/481 (2006.01); G01S 7/48 (2006.01); G01S 7/4861 (2020.01)
CPC G01S 7/4808 (2013.01) [G01S 7/4817 (2013.01); G01S 7/4861 (2013.01); G01S 17/89 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for reconstructing a trajectory of a scanner of a mobile Light Detection and Ranging system, the method comprising:
communicating with the mobile Light Detection and Ranging system;
downloading, based on the communicating, data of a file format for interchange and archiving of point cloud data to extract scanner data, wherein the point cloud data is associated with the mobile Light Detection and Ranging system;
extracting the scanner data associated with the mobile Light Detection and Ranging system, wherein the scanner data includes angular resolution between pulses from the mobile Light Detection and Ranging system;
estimating spin rate by a first application of the angular resolution between the pulses;
estimating a scan plane by a second application of the estimated spin rate to obtain orientation of the scanner of the mobile Light Detection and Ranging system;
estimating a scan origin using the estimated scan plane; and
performing global smoothing of the estimated scan origin to reconstruct the trajectory of the scanner.