地面三维激光扫描点云配准的最佳距离

Best distance of terrestrial 3D laser scanning point cloud registration

分析点云配准的原理,在此基础上推导出点云配准误差传播模型.利用该模型解算了配准后的点位误差,将该误差作为衡量点云配准好坏的指标.为评估地面三维激光扫描测距的变化给点云配准误差造成的影响,设计了一套试验方案,在地面三维激光扫描仪测距精度内对不同距离进行了严格的试验.根据提取的靶心和点云配准误差传播模型,计算得出不同距离下的点云配准精度,从而分析得出点云配准精度的扫描最佳距离.结果表明点云误差传播模型正确,试验方法良好.

The point cloud registration principle was discussed.Based on this principle,the error model of point cloud registration was deduced.From the model,the point error could be calculated,which is an index of point cloud registration.In order to evaluate the effect of scanning distance change of terrestrial 3D laser scanner on point cloud registration error,an experiment program was designed to test precisely different distance in range accuracy of terrestrial 3D laser scanner.According to bull＇s eye extracted and the error model of point cloud registration,point cloud registration precision of different distance was obtained,which led to the best accuracy of point cloud registration.The results show that this point cloud registration error model and the experimental method are excellent.