Range Data Registration

Range data registration was carried out using the Cyclone software. We did an incremental registration by the first four scans. Then we added the two scans from the windows and finally the 3 remaining ground scans. This allowed us to detect errors in target acquisition due to occlusions. We had problems with two targets, which we were able to identify and remove from the registration process. Having done this, we were able to register all the 9 scans together with an error of less than 5 mm. Below are two images of the registered data with recovered scanner positions.