A Multi-site Cloud Robust Registration Technique for Hull Scanning
In order to realize point cloud registration of cabin shell,a multi-site cloud registration method based on loop constraint is proposed in this paper.Firstly,ISS is used to extract key points from the scene,and the histo-gram of color information and shape information is fused to obtain the CSHOT feature descriptor of the cabin point cloud shell.Then,based on the rough registration of the loop,the fully connected graph is constructed,and GROR is used to remove the mismatching by combining the maximum consistent set constraint and the closed-loop con-straint.Finally,the global LUM algorithm is used to complete the pose optimization.The experiments show that the average RMSE of this method is 0.0077 m,and the result is good for the point cloud registration of the cabin shell.
cabin shellCSHOTmaximum consistency set constraintclosed loop constraintsmulti site cloud regis-tration