Integral registration method of high-precision multisource ground laser point clouds

Abstract

The invention discloses an integral registration method of high-precision multisource ground laser point clouds, which comprises the following steps: acquiring a primitive feature constraint, inputting a control point, and using the control point as a first ground laser station; selecting a homonymous feature constraint corresponding to the primary feature constraint from all ground laser stations adjacent to the first ground laser station; determining a registration base station; establishing a vertical error equation for the feature constraint of each ground laser station, and solving the registration parameter initial value of each scanning station under control coordinates; carrying out overall adjustment on the registration parameter initial value, carrying out gross error reject until the variation of the two adjacent parameter corrected values is smaller than the threshold, and outputting a registration parameter exact value; and transforming the coordinate systems of all the ground laser station point clouds according to the registration parameter exact value to register all the ground laser station point clouds. The method disclosed by the invention can implement precise registration of multistation ground laser point clouds in a complex scene.

Description

technical field [0001] The invention relates to a registration method, in particular to an overall registration method of multi-station ground laser point clouds applied to large-scale scenes. Background technique [0002] In recent years, the application of ground laser scanning technology in large-scale projects has increased, such as large-scale ancient building records and modern building monitoring and construction inspection, tunnel excavation deformation monitoring, etc. In the measurement of these large-scale targets, multiple perspectives are required Scan the data to complete the overall data acquisition, and finally complete the construction of the overall object point cloud model through registration. [0003] The measurement accuracy of the laser point cloud itself can generally meet the actual measurement requirements. However, there are errors in the registration constraints in the multi-station data registration, and the accumulation error and the uncertainty...

AI Technical Summary

Problems solved by technology

[0010] To sum up, it can be seen that the mainstream of the current registration method is the method of point set registration one by one. Although a few have proposed adjustment models for multi-site cloud registration, they have not been studied in depth, and the results are not satisfactory.

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