2025 Volume 81 Issue 8 Article ID: 25-00002
In our country, building a high-definition digital twin of urban spaces is a national policy, but the development of indoor spaces has not progressed. In recent years, it has become easy to acquire the 3D shape of indoor spaces as point cloud data using LiDAR installed on mobile terminals. By collecting a large amount of point cloud data from mobile terminals through citizen collaboration, it may be possible to complement the indoor spaces of the urban digital twin. However, due to differences in data characteristics such as noise and missing data, accurately registering point cloud data from mobile terminals is challenging. Therefore, this research proposes a method for robustly registering point cloud data, considering these characteristic differences. Comparing it with existing methods, it was confirmed that this method can accurately register point cloud data from mobile terminals, revealing the possibility of utilizing such data to supplement the digital twin.
