Outdoor Verification System

The paper presents a prototype of a system capable of building a reference model of a large outdoor area. The reference model is based on fused data from various scanner architectures having different characteristics such as acquired resolutions and coverage. The data fusion is briefly discussed with a focus of large-scale scan registration. The different scanner techniques, such as tripod mounted laser range scanners, vehicle mounted laser scanners and LIDAR scans from aerial sensors, are discusses. Applications for the prototype include the concepts of efficiently performing a change detection in an outdoor environment, for instance for nuclear power plant areas. The paper includes examples covering an office and warehouse area where the prototype system has been used to construct a reference model based on aerial scans and a vehicle mounted laser scanners and a change detection has been performed with a verification scan coming from a scan from a vehicle-mounted scanner. Successful detection of difference between the models is presented and the use of the prototype system is discussed.