基于探测球的固定式扫描海量点云自动定向方法

An auto registration method for fixed type of scanned HPC based on detecting balls

地面固定式扫描点云首先要将自由坐标系的点云纳入国家坐标系,而单站扫描的点云数据量极大,无法在可视环境下进行拼接。针对现有方法对海量点云拼接的不足,提出一种基于探测球的固定式扫描海量点云自动定向方法,该方法通过数据关联技术读取海量点云、建立标靶搜索环、球拟合确定标靶候选点、全组合距离匹配法确定同名点及坐标转换参数解算等,完成点云的自动定向过程。通过实验验证文中算法的有效性及可行性。

The point cloud data of fixed terrestrial scanning are used for topographic mapping ,of which the data should be transformed from free coordinate system into national coordinate frame .However ,due to the huge quantity of point cloud for single‐station scanning ,the data can not be registered in a visual environment .For the deficiency of existing registration methods for huge point clouds (HPC ) ,an auto method for fixed type of scanned HPC based on detecting balls is put forward .The automatic registration process is implemented by reading point clouds through data association ,searching target‐searching loops , followed by fitting spheres for candidate targets ,extracting corresponding points using distance matching , and calculating the transformation parameters .Experiments demonstrate the effectivity and feasibility of the proposed algorithm .