LiDAR Point Cloud Registration Based on Plücker Line

doi:10.11947/j.AGCS.2016.20140415

Abstract

Abstract: The high precision LiDAR point cloud registration is the key to achieve overall point cloud data, in the meantime, to ensure the 3D topological reconstruction of spatial objects. In this paper, a new registration method based on Plücker line is proposed. The conjugate lines between reference point cloud and point cloud to be registered are expressed by Plücker line. Then the collinearity equation based on Plücker line is established by the geometric topology relation of the conjugate lines. Finally the relative position and attitude parameters between reference point cloud and point cloud to be registered are solved by least squares method. Experimental results show that the method has strong geometric constraint and high registration precision.

Key words: LiDAR, point cloud registration, linear features, Plücker line

CLC Number:

P237

SHENG Qinghong, CHEN Shuwen, LIU Jianfeng, WANG Huinan. LiDAR Point Cloud Registration Based on Plücker Line[J]. Acta Geodaetica et Cartographica Sinica, 2016, 45(1): 58-64.

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