Agoritsa Spirakis | MSc Eng Electrical Engineering, ARU/MARIS
Static 3D reconstruction of pancake sea ice from multi-viewpoint Livox LiDAR scans collected onboard a research vessel. The pipeline extracts raw sensor data from ROS bags, aligns scans using a global weighted ICP algorithm, and produces a 3D surface mesh with height statistics and roughness metrics.
| Folder | Contents |
|---|---|
| python-3DRecon/ | Primary Python pipeline: config, pipeline stages, library modules, utilities |
| matlab/ | Reference MATLAB pipeline, same config format |
| cpp/ | RealSense + LiDAR capture programs (C++) |
| legacy/ | Original pre-restructure MATLAB scripts, reference only |
Each folder's README has full setup, build, and run instructions.
P. Glira, N. Pfeifer, C. Briese, C. Ressl (2015). A Correspondence-Based Algorithm for Point Cloud Registration with High Accuracy and Speed. ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences.