面向CRTSⅢ轨道板测量的点云快速拼接算法

Rapid Point Cloud Registration Algorithm for CRTSⅢTrack Slab Measurement

针对高速铁路CRTSⅢ轨道板点云快速拼接的问题,提出一种基于关键面的轨道板点云拼接算法,为轨道板测量提供基础数据。该方法以CRTSⅢ轨道板的轨枕为单元,利用部分轨枕的点云关键面作为起算数据,完成轨道板在竖向和横向的拼接;引入标靶或靶球克服现场CRTSⅢ轨道板场景的高度一致性带来的不确定性,保证在线路方向轨道板拼接的准确性。以实测的相邻测站轨道板数据试验,采用该方法拼接轨道板点云,实验结果表明该算法能实现CRTSⅢ轨道板点云的快速精确拼接。

Aiming at the problem of rapid registration of CRTSⅢtrack slab point cloud of high-speed railway,a registration algorithm of track slab point cloud based on key planes is proposed to provide basic data for track slab measurement.This method takes the sleeper of CRTSⅢtrack slab as the unit,uses the key planes of point cloud of some sleepers as the starting data to complete the vertical and horizontal registration of the track slab;it introduces a target or target ball to overcome the uncertainty caused by the high consistency of the scene of CRTSⅢtrack slab and ensures the accuracy of the track slab registration in the line direction.The method is used to register the track slab point cloud with the measured track slab data of adjacent stations.The experimental results show that the algorithm can realize the rapid and accurate point cloud registration of CRTSⅢtrack slabs.