ASSESSMENT of A KEYPOINTS DETECTOR for the REGISTRATION of INDOOR and OUTDOOR HERITAGE POINT CLOUDS

Abstract

In the context of architectural heritage preservation, constructing building information models is an important task. However, conceiving a pertinent model is a difficult, time consuming and user-dependent task. Our laboratory has been researching methods to decrease the time and errors inferred by manual segmentation of point clouds. In the perspective of automatization of the process, we implemented an automated registration method that used only keypoints. Keypoints are special points that hold more information about the global structure of the cloud. In order to detect keypoints, we used the Point Cloud Library (PCL) toolbox. The pertinence of the method was evaluated by registering more than 300 clouds of the zoological museum of Strasbourg. The quality of the keypoint detection was first verified on geo-referenced indoor point clouds. Then we applied this method to register the indoor and outdoor point clouds that have much less area in common; those common points being generally the doors and windows of the façade. The registrations of indoor point clouds were satisfying, with mean distances to the ground truth inferior to 20 cm. While the first result for joint indoor/outdoor registration are promising, it may be improved in future works.