Scan registration using planar features
Scan registration using planar features
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DOI：
10.5194/isprsarchives-xl-5-501-2014
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发表时间：
2014-06
期刊：
影响因子：
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通讯作者：
M. Previtali;L. Barazzetti;R. Brumana;M. Scaioni
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文献类型：
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作者：
M. Previtali;L. Barazzetti;R. Brumana;M. Scaioni
利用激光扫描仪获取点云数据为室内/室外城市环境的三维建模提供了一种有效的方法。在大型结构的情况下，可能需要多次扫描来覆盖整个场景，并且需要配准来将它们合并在一起。通常，在一系列扫描中识别对应的几何特征可用于计算3D刚体变换，该3D刚体变换可用于将每次扫描配准到最终点云的参考系统中。为此，已经开发了不同的自动或半自动方法。基于人工目标的几种解决方案是可用的，然而它们可能不适合于任何情况。如果要对齐的扫描具有适当的几何形状和表面纹理，则可以应用基于表面匹配的方法（如ICP和LS 3D）。在城市和建筑场景的情况下，目前流行的几个基本的几何形状（“乐高”场景）的可用性，许多平面特征在这里被利用注册。所提出的技术不需要人工目标被添加到扫描的场景。此外，与其他基于表面的技术（如ICP）不同，基于平面特征的配准技术不限于以成对方式工作，而是可以处理多个扫描的同时对准。最后，提出并讨论了一些应用程序，以显示这种技术可以实现的精度相媲美的统一注册方法。
Point cloud acquisition by using laser scanners provides an efficient way for 3D as-built modelling of indoor/outdoor urban environments. In the case of large structures, multiple scans may be required to cover the entire scene and registration is needed to merge them together. In general, the identification of corresponding geometric features among a series of scans can be used to compute the 3D rigid-body transformation useful for the registration of each scan into the reference system of the final point cloud. Different automatic or semi-automatic methods have been developed to this purpose. Several solutions based on artificial targets are available, which however may not be suitable in any situations. Methods based on surface matching (like ICP and LS3D) can be applied if the scans to align have a proper geometry and surface texture. In the case of urban and architectural scenes that present the prevalence of a few basic geometric shapes ("Legoland" scenes) the availability of many planar features is exploited here for registration. The presented technique does not require artificial targets to be added to the scanned scene. In addition, unlike other surface-based techniques (like ICP) the planar feature-based registration technique is not limited to work in a pairwise manner but it can handle the simultaneous alignment of multiple scans. Finally, some applications are presented and discussed to show how this technique can achieve accuracy comparable to a consolidated registration method.