Registration of Heterogenous Data for Urban Modeling

Abstract

Indoor/Outdoor modeling of buildings is an important issue in the field of building life cycle management. It is seen as a joint process where the two aspects collaborate to take advantage of their semantic and geometric complementary. This global approach will allow a more complete, correct, precise and coherent reconstruction of the buildings. This thesis is part of the Building Indoor/Outdoor Modeling (BIOM) ANR project that aims at automatic, simultaneous indoor and outdoor modelling of buildings from image and dense point clouds. The first ambition of the BIOM ANR project is to integrate heterogeneous data sources for buildings modeling. The heterogeneity is both in: data type (image/ LiDAR data), acquisition platform (Terrestrial/ Aerial), acquisition mode (dynamic/static) and point of view (indoor/outdoor). The first issue of such modeling is thus to precisely register this data. The work carried out has confirmed that the environment and the type of data drive the choice of the registration algorithm. Our contribution consists in exploiting the physical and geometric properties of the data and the acquisition platforms in order to propose potential solutions for all the registration problems encountered by the project. As in a building environment, most objects are composed of geometric primitives (planar polygons, straight lines, openings), we chose to introduce registration algorithms based on these primitives. The basic idea of these algorithms consists in the definition of a global energy between the extracted primitives from the data-sets to register and the proposal of a robust method for optimizing this energy based on the RANSAC paradigm. Our contribution ranging from the proposal of robust methods to extract the selected primitives to the integration of these primitives in an efficient registration framework. Our solutions have exceeded the limitations of existing algorithms and have proven their effectiveness in solving the challenging problems encountered by the project such as the indoor (static mode)/outdoor (dynamic mode) registration, image/LiDAR data registration, and aerial/terrestrial registration.