摘要
提出了一种综合利用快速点特征直方图(FPFH)描述符和同名点引导ICP优化的地面激光扫描(TLS)点云配准方法。该方法包括3个步骤:1)点云金字塔构建;2)基于FPFH的粗配准;3)同名点引导的ICP精配准。首先使用体素网格滤波器构造点云的金字塔结构,在粗配准时,FPFH描述符用于金字塔顶层上点云的鲁棒匹配,在此基础上,再进行两层级同名点引导的ICP精配准优化,使用3组典型TLS点云对进行实验,结果表明本文方法可以高效地完成TLS点云的配准。
In this paper,a point cloud registration method based on fast point feature histogram( FPFH) descriptor and matches-guided ICP optimization for terrestrial laser scanning( TLS) is proposed. The method consists of three steps:( 1) point cloud pyramid construction;( 2) rough registration based on FPFH;( 3) precise registration based on matches-guided ICP. Firstly,a vowel grid filter is used to construct the pyramid structure of point cloud. In the step of rough registration,FPFH descriptors are used for robust matching of point clouds at the top of the pyramid. After that,two-level matches-guided ICP precise registration optimization is carried out. Three sets of typical TLS point clouds are used for experimental analysis. The results show that the proposed method can efficiently complete the registration of TLS point clouds.
作者
王英
张云生
WANG Ying;ZHANG Yunsheng(Survey and Design Institute of China Railway Seventh Bureau Group Co.,Ltd.,Zhengzhou 450016,China;School of Geosciences and Info-Physics,Central South University,Changsha 410083,China)
出处
《测绘与空间地理信息》
2020年第2期156-159,共4页
Geomatics & Spatial Information Technology
关键词
地面激光扫描
点云配准
FPFH
ICP
terrestrial laser scanning
point cloud registration
FPFH
ICP
