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DOUBLE REGISTRATION
Double registration can occur for the following reasons:
Drift over a period of time and returning to an area that was scanned earlier
An uncompensated twist in the trajectory due to lack of 3D structure in the scene
Excessive, dynamic motions
To address issue 1, Stencil 2 comes with a loop closure tool. The images below show the same
data set before (left) and after (right.)
Issue 2 is corrected by cutting the point cloud at the twist and remerging the two clouds
correctly. This is described in the Cleaning and Merging Ply Files section later.
Issue 3 is resolved by finding more suitable ways to collect the data.
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