Development of a method for aligning a 3D point cloud with a 2D floor plan

Tema je ovog rada Razvoj metode za poravnavanje 3D oblaka točaka s 2D tlocrtom. 3D oblak točaka često je korišten način prikazivanja objekata u prostoru jednostavnim zapisom točaka u obliku x, y, z koordinata i dodatnih parametara. U ovom se radu iznose osnovne teorijske informacije o korištenim tehnikama, alatima i pojmovima te opisuju načini dobivanja podataka LiDAR senzorima, njihove obrade usredotočene na obradu slike pomoću OpenCV-a te razvoj metode. Za poravnavanje slika korištena je SIFT metoda zajedno s RANSAC-om.The topic of this paper is Development of a method for aligning a 3D point cloud with a 2D ground plan. 3D point cloud is a frequently used way of displaying objects in space by recording points in the simple form of x, y, z coordinates and additional parameters. This paper presents basic theoretical information about the techniques, tools and concepts used, and describes the methods of obtaining data from LiDAR sensors, their processing focused on image processing using OpenCV and the development of the method. The SIFT method together with RANSAC was used to align the images