Association-Matrix-Based Sample Consensus Approach for Automated Registration of Terrestrial Laser Scans Using Linear Features
Association-Matrix-Based Sample Consensus Approach for Automated Registration of Terrestrial Laser Scans Using Linear Features
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DOI：
10.14358/pers.80.11.1029
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发表时间：
2014-11-01
影响因子：
1.3
通讯作者：
Habib, Ayman
中科院分区：
文献类型：
--
作者：
Al-Durgham, Kaleel;Habib, Ayman
本文提出了一种利用线状特征对地面激光扫描图像进行自动配准的方法。这里的主要贡献是引入了一种新的匹配策略，使用关联矩阵来存储有关线性特征的候选匹配的信息。这项工作的动机是帮助3D建模的工业网站丰富的极状功能。所提出的匹配策略旨在建立关于线性特征的潜在最小匹配的假设，所述线性特征可用于估计与扫描相关的变换参数;然后，使用估计的变换参数量化扫描之间的一致性。我们结合联合收割机的关联矩阵和著名的RANSAC方法的推导共轭对之间的两个扫描。与基于RANSAC的配准中随机选择线对不同，关联矩阵指导选择线性特征的候选匹配的过程。使用激光扫描数据的变电站进行实验，以评估所提出的基于关联矩阵的样本共识方法的性能，因为它相比传统的基于RANSAC的程序。基于关联矩阵的方法表现出一致的趋势，首先提出正确的匹配之前，基于RANSAC的注册。
This paper presents an approach for the automatic registration of terrestrial laser scans using linear features. The main contribution here is introducing a new matching strategy that uses an association matrix to store information about candidate matches of linear features. The motivation for this work is aiding the 3D modeling of industrial sites rich with pole-like features. The proposed matching strategy aims at establishing hypotheses about potential minimal matches of linear features that could be used for the estimation of the transformation parameters relating the scans; then, quantifying the agreement between the scans using the estimated transformation parameters. We combine the association matrix and the well-known RANSAC approach for the derivation of conjugate pairs among the two scans. Rather than randomly selecting the line pairs as in the RANSAC-based registration, the association matrix guides the process of selecting the candidate matches of linear features. Experiments are conducted using laser scanning data of an electrical substation to assess the performance of the proposed association-matrix-based sample consensus approach as it compares to the traditional RANSAC-based procedure. The association-matrix-based approach showed consistent tendency of bringing up the correct matches first before the RANSAC-based registration.