TLS POINT CLOUD REGISTRATION BASED ON ICP ALGORITHM USING POINT QUALITY
TLS POINT CLOUD REGISTRATION BASED ON ICP ALGORITHM USING POINT QUALITY
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DOI：
10.5194/isprs-archives-xlii-2-w13-963-2019
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发表时间：
2019-06
期刊：
影响因子：
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通讯作者：
H. Date;Eisuke Wakisaka;Y. Moribe;S. Kanai
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文献类型：
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作者：
H. Date;Eisuke Wakisaka;Y. Moribe;S. Kanai
抽象的。为了提高TLS点云的配准精度，提出了一种基于距离和入射角的点质量的ICP算法扩展方法。首先，使用结构化点云表示，计算每个点的距离和入射角。然后，定义了距离和入射角的质量度量，考虑了它们与扫描误差之间的关系。最后，描述了一种利用估计点质量加权的ICP算法的扩展方法。还介绍了一种利用点属性进行有效匹配的方法。该方法被应用到两个数据集的TLS点云的一个小工厂和一个室外环境，并通过比较注册误差与使用扫描目标和全站仪获得的地面真理的有效性进行评估。
Abstract. A simple extension method of the ICP algorithm using point quality based on the distance and incident angle is presented for improving the registration accuracy of TLS point clouds. First, using a structured point cloud representation, the distance and incident angle of each point are calculated. Then, quality measures for the distance and incident angle are defined, considering the relationship between them and the scanning errors. Finally, an extension method of the ICP algorithm by the weighting using the estimated point qualities is described. A method for efficient matching using point properties is also introduced. The proposed method is applied to two datasets of TLS point clouds of a small plant and an outdoor environment, and the effectiveness is evaluated by comparing registration errors with the ground truths obtained using the scan target and a total station.