Abstract: This paper presents a new approach to the automatic registration of terrestrial laser scanning (TLS) point clouds using panoramic reflectance images. The approach follows a two-step procedure that includes both pair-wise registration and global registration. The pair-wise registration consists of image matching (pixel-to-pixel correspondence) and point cloud registration (point-to-point correspondence), as the correspondence between the image and the point cloud (pixel-to-point) is inherent to the reflectance images. False correspondences are removed by a geometric invariance check. The pixel-to-point correspondence and the computation of the rigid transformation parameters (RTPs) are integrated into an iterative process that allows for the pair-wise registration to be optimised. The global registration of all point clouds is obtained by a bundle adjustment using a circular self-closure constraint. Our approach is tested with both Sensors 2009, 9 2622 indoor and outdoor scenes acquired by a FARO LS 880 laser scanner with an angular resolution of 0.036 and 0.045, respectively. The results show that the pair-wise and global registration accuracies are of millimetre and centimetre orders, respectively, and that the process is fully automatic and converges quickly.
REF present an approach based on pixel-to-pixel correspondence in the intensity image, followed by outlier detection and computation of the transformation parameters in the 3D space.
Automatic Registration of Terrestrial Laser Scanning Point Clouds using Panoramic Reflectance Images
Sensors (Basel, Switzerland)
Sensors (Basel, Switzerland)
Medicine Computer Science Engineering