Title
Comparison of the Selected State-Of-The-Art 3D Indoor Scanning and Point Cloud Generation Methods.
Abstract
Accurate three-dimensional (3D) data from indoor spaces are of high importance for various applications in construction, indoor navigation and real estate management. Mobile scanning techniques are offering an efficient way to produce point clouds, but with a lower accuracy than the traditional terrestrial laser scanning (TLS). In this paper, we first tackle the problem of how the quality of a point cloud should be rigorously evaluated. Previous evaluations typically operate on some point cloud subset, using a manually-given length scale, which would perhaps describe the ranging precision or the properties of the environment. Instead, the metrics that we propose perform the quality evaluation to the full point cloud and over all of the length scales, revealing the method precision along with some possible problems related to the point clouds, such as outliers, over-completeness and misregistration. The proposed methods are used to evaluate the end product point clouds of some of the latest methods. In detail, point clouds are obtained from five commercial indoor mapping systems, Matterport, NavVis, Zebedee, Stencil and Leica Pegasus: Backpack, and three research prototypes, Aalto VILMA, FGI Slammer and the Wurzburg backpack. These are compared against survey-grade TLS point clouds captured from three distinct test sites that each have different properties. Based on the presented experimental findings, we discuss the properties of the proposed metrics and the strengths and weaknesses of the above mapping systems and then suggest directions for future research.
Year
DOI
Venue
2017
10.3390/rs9080796
REMOTE SENSING
Keywords
Field
DocType
point cloud,indoor,mobile laser scanning,MLS,metric,3D scanning,mobile mapping,SLAM,review,comparison
Length scale,Mobile laser scanning,Stencil,Remote sensing,Outlier,Ranging,Terrestrial laser scanning,Point cloud,Geology,Mobile mapping
Journal
Volume
Issue
ISSN
9
8
2072-4292
Citations 
PageRank 
References 
15
0.79
9
Authors
15
Name
Order
Citations
PageRank
Lehtola, V.V.1183.50
Harri Kaartinen260863.10
Andreas Nüchter3134190.03
Risto Kaijaluoto4150.79
Antero Kukko548347.44
Paula Litkey621522.42
Eija Honkavaara722027.92
tomi rosnell8756.22
Matti Vaaja98410.00
Juho-Pekka Virtanen10150.79
Matti Kurkela11265.02
Aimad El Issaoui12151.13
lingli zhu131069.87
Anttoni Jaakkola1434430.30
Juha Hyyppä1543966.75