A robust method for registering ground-based laser range images of urban outdoor objects

作者：Zhao HJ^*; Shibasaki R

来源：Photogrammetric Engineering and Remote Sensing, 2001, 67(10): 1143-1153.

There is a potentially strong demand for detailed 3D spatial data of urban areas. A ground-based laser range scanner is one of the promising devices to acquire range images of urban 3D objects. In this paper, the authors propose an automated registration method of multiple overlapping range images for the reconstruction of 3D urban objects. Registration is achieved in two steps, pair-wise registration and multiple registration assuming that one rotating axis of a laser range scanner is almost vertical. At first, pair-wise registration determines the approximate values of four transformation parameters, a horizontal rotation angle and three translation parameters of a pair of neighboring range images. Then through multiple registration, the transformation parameters of all range images are adjusted using the approximate values so as to minimize the total errors. An outdoor experiment was conducted registering 42 range images to construct a 3D model of a building on the campus of the University Of Tokyo. The accuracy of the model was examined using a 1:500-scale digital map and GPS-measured locations of the viewpoints. The efficiency and accuracy of the registration method is demonstrated in this paper.

• 出版日期2001-10