Point Cloud Registration Algorithms for Large-scale Urban Scenes Based on Line Features
Aiming at the problem of inaccurate point cloud registration due to insufficient accuracy of corresponding line pairs in large-scale urban scenes,a point cloud registration algorithm for large-scale urban scenes based on line features is proposed.Firstly,the method detects and screens the 3D feature lines of buildings in airborne point cloud and vehicle-borne point cloud,and the feature lines are divided into two groups:horizontal feature lines and vertical feature lines;secondly,the initial 3D corresponding line pairs is searched based on the line segment Hausdorff distance(LHD);then,the corresponding line pairs with insufficient accuracy are opti-mized by plane fitting and intersection methods,and different combinations of the corresponding line pair registration schemes are de-signed;finally,the existing RLMR-FMII2 registration algorithm is used to achieve accurate registration of point clouds with different registration schemes,and the optimal registration scheme is obtained.Using the measured point cloud to conduct experiments,it is concluded that the registration scheme based on the optimized vertical corresponding line pairs is the optimal scheme.The experimen-tal results show that the algorithm can achieve accurate registration of large-scale point clouds.
large-scale urban scenesline segment Hausdorff distanceplane fitting and intersectionregistration scheme
NETL
NSTL
万方数据
