Automatic multi-scans registration of 3D point clouds based on improved normal distribution transform

作者：Zhang Xiao; Zhang Aiwu^*; Li Feng; Zhai Mengxin

来源：Journal of Information and Computational Science, 2014, 11(15): 5559-5570.

DOI：10.12733/jics20104717

• Automatic registration
• Error accumulation
• Multi-scans registration
• Rasterization
• Registration accuracy
• Simultaneous localization and mapping
• Terrestrial laser scanning
• Two-dimensional images

Automatic registration of multi-sites Point clouds is intractable for the Terrestrial Laser Scanning (TLS) in two viewpoints: the accuracy of registration and the time of operation. This paper presents a method of the Multi-scans Registration based on the Improved Normal Distribution Transform (MSR-INDT) for TLS. NDT algorithm, early applied in Simultaneous Localization and Mapping (SLAM), is first modified to be applied in TLS introducing the initial registration between two-dimensional images. Moreover, MSR-INDT algorithm, based on INDT, is constructed using the registration strategy of the intermediate site as the final target site to reduce the error accumulation. The comprehensive experimental results are shown to demonstrate the effectiveness of the presented approach in both the registration accuracy and the registration time for multiple scans of TLS.

• 出版日期2014
• 单位首都师范大学; 太原理工大学