Research on Efficient Coarse Registration Method of Indoor Static Laser Point Cloud Based on Feature Image
Point cloud registration is an essential step in indoor static laser point cloud data processing,and its registration efficiency directly affects the usability of the registration algorithm.When processing a large amount of dense indoor point cloud data,an automatic and efficient coarse registration method is required.Therefore,this paper proposes an automatic and efficient coarse registration method for indoor static 3D laser point clouds.The method used the tilt angle in data acquisition as the prior knowledge to reduce the degree of freedom(DOF)of coarse registration from 6 DOF to 4 DOF,and through the three-step method to achieve efficient 4-DOF coarse registration.The results show that the proposed method can not only achieve centimeter-level registration accuracy and meet the requirements of fine registration accuracy,but also the registration efficiency is better than other comparison methods.
indoor static laser point cloudorthographic feature imagecoarse registration
万方数据
维普
