Density adaptive trilateral scan integration method

Abstract

We present a trilateral scan integration method to extract a desirable single-layer, smooth, detailed point set surface. A density adaptive overlapping areas detection algorithm is developed to detect overlapping points in raw scans. Subsequently, a variant trilateral filter is designed to shift the overlapping points to a single layer surface as well as reduce noises and outliers. Finally, a mean-shift clustering scheme is employed to gather corresponding points iteratively, and the local maxima model replaces members in the stable cluster, thereby removing redundancies. Experimental results demonstrate the superiority of the new method.