The invention belongs to the technical field of
laser scanning, and discloses a multi-
station foundation
laser scanning
point cloud registration method and
system suitable for a forest environment. Firstly, an original three-dimensional
point cloud is converted into a two-dimensional distance image, a
trunk is extracted based on continuity constraint, and the position of a
trunk root point is searched; secondly, constructing a triangular descriptor, describing the
spatial relationship among the trunks in scanning, and storing the
spatial relationship in a
hash table; and searching the corresponding triangular pairs by using the search operation of the
hash table, calculating the similarity between scans, and extracting three-dimensional transformation parameters. And taking a to-be-solved scanning
station pose as a node, taking relative transformation as a factor constraint, and obtaining a scanning
station pose parameter with optimal overall consistency through
factor graph optimization. And finally, by taking the conversion parameter after the
factor graph optimization as an initial value, optimizing and adjusting the conversion parameter by using an ICP method, deriving the
pose of each scanning station in the unified coordinate
system through a depth-first strategy, converting the local
point cloud into the unified coordinate
system, and realizing global point cloud registration.