Fast and Automatic Registration of Terrestrial Point Clouds Using 2D Line Features

Author:

Tao WuyongORCID,Hua Xianghong,Chen Zhiping,Tian Pengju

Abstract

Point cloud registration, as the first step for the use of point cloud data, has attracted increasing attention. In order to obtain the entire point cloud of a scene, the registration of point clouds from multiple views is necessary. In this paper, we propose an automatic method for the coarse registration of point clouds. The 2D lines are first extracted from the two point clouds being matched. Then, the line correspondences are established and the 2D transformation is calculated. Finally, a method is developed to calculate the displacement along the z-axis. With the 2D transformation and displacement, the 3D transformation can be easily achieved. Thus, the two point clouds are aligned together. The experimental results well demonstrate that our method can obtain high-precision registration results and is computationally very efficient. In the experimental results obtained by our method, the biggest rotation error is 0.5219o, and the biggest horizontal and vertical errors are 0.2319 m and 0.0119 m, respectively. The largest total computation time is only 713.4647 s.

Funder

the National Natural Science Foundation of China

National Natural Science Foundation of China

Publisher

MDPI AG

Subject

General Earth and Planetary Sciences

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3