kaarta STENCIL 2 - Page 7

7
Loop Closure Tool Effect .......................................................................................................... 70
Using Separately Logged Data in the Loop Closure Tool ..................................................... 72
Using Non-GNSS Data for Loop Closure ................................................................................ 73
Chapter 5 .......................................................................................................................................... 74
Case Studies ................................................................................................................................. 74
Case Study 1: Loop Closure Mapping without GNSS Data ................................................... 74
Case Study 2: Ground Vehicle Navigation .............................................................................. 76
Case Study 3: Air-ground Collaborative Mapping ................................................................. 77
Chapter 6 .......................................................................................................................................... 79
Tips for Collecting Better Data ................................................................................................... 79
General ....................................................................................................................................... 79
Handheld scanning - Indoors .................................................................................................. 80
Handheld scanning - Outdoors ............................................................................................... 80
Vehicle Mounted Scanning ...................................................................................................... 81
Aerial Scanning .......................................................................................................................... 82
Request for additional Scanning Tips ..................................................................................... 82
Problems / Issues ........................................................................................................................ 83
.ply file error or non-generation ............................................................................................. 83
Sun glare .................................................................................................................................... 83
Double registration ................................................................................................................... 84
Small rooms/narrow hallways ................................................................................................. 85
Reflections ................................................................................................................................. 86
Darker/Brighter Environments ................................................................................................ 86
Using CloudCompare .................................................................................................................. 87
Visualization basics ................................................................................................................... 87
Colorize Point Cloud by Z-Coordinates .................................................................................. 89
Colorizing the point cloud by time using scalar fields .......................................................... 90
Colorization scales and Intensity values ................................................................................ 91
Geo-locating point clouds ........................................................................................................ 94