Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: LiDAR Point--to--point Correspondences for Rigorous Registration of
  Kinematic Scanning in Dynamic Networks   With the objective of improving the registration of LiDAR point clouds
produced by kinematic scanning systems, we propose a novel trajectory
adjustment procedure that leverages on the automated extraction of selected
reliable 3D point--to--point correspondences between overlapping point clouds
and their joint integration (adjustment) together with all raw inertial and
GNSS observations. This is performed in a tightly coupled fashion using a
Dynamic Network approach that results in an optimally compensated trajectory
through modeling of errors at the sensor, rather than the trajectory, level.
The 3D correspondences are formulated as static conditions within this network
and the registered point cloud is generated with higher accuracy utilizing the
corrected trajectory and possibly other parameters determined within the
adjustment. We first describe the method for selecting correspondences and how
they are inserted into the Dynamic Network as new observation models. We then
describe the experiments conducted to evaluate the performance of the proposed
framework in practical airborne laser scanning scenarios with low-cost MEMS
inertial sensors. In the conducted experiments, the method proposed to
establish 3D correspondences is effective in determining point--to--point
matches across a wide range of geometries such as trees, buildings and cars.
Our results demonstrate that the method improves the point cloud registration
accuracy, that is otherwise strongly affected by errors in the determined
platform attitude or position (in nominal and emulated GNSS outage conditions),
and possibly determine unknown boresight angles using only a fraction of the
total number of 3D correspondences that are established.

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The categories of this paper are: solv-int
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The categories of this paper are: econ
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The categories of this paper are: atom-ph
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The categories of this paper are: eess
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The categories of this paper are: stat
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The categories of this paper are: math-ph
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The categories of this paper are: comp-gas
3
The categories of this paper are: physics
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The categories of this paper are: cmp-lg
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The categories of this paper are: nucl-th
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The categories of this paper are: ao-sci
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The categories of this paper are: hep-ph
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The categories of this paper are: supr-con
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The categories of this paper are: patt-sol
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The categories of this paper are: mtrl-th
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The categories of this paper are: hep-lat