基于几何特征的建筑物点云配准方法

Research on Building Scanning Point Cloud Registration Based on Geometric Feature Constraint

针对规则建筑物点云数据特点,基于测量平差理论,提出一种基于点、面几何特征的点云配准算法。首先利用建筑物点云数据中平面与平面的重合关系,推导了基于特征面的点云配准模型;而后结合基于特征点的点云配准模型,给出基于点、面特征的点云配准模型;最后利用实测数据进行实验,证实该方法能在一定程度上提高点云配准精度。

Aimming at the characteristic of three^dimensional laser scanning data,based on the theory of least squares adjustment ,this paper presents a method for point cloud registration,based on point plane geometric feature. Firstly,according to superposition between two planes, model of point cloud registration and error equation are derived, based on geometric feature of point and plane. Secondly, combined error equation of point cloud registration based on feature points, error equation of point cloud registration is derived, based on geometric feature of point and plane. Finally,making a test,using the actual scan data form three-dimensional laser scanner,confirm that this method can improve the accuracy of point cloud registration.