Global registration method for multi-station point clouds based on the bundle adjustment method

doi:10.11947/j.AGCS.2024.20240075

Abstract

Abstract:

In the extraction of parallelism and warping data for large-scale, high-density ice-making pipes, issues such as low detection accuracy and incomplete data coverage are prevalent. This paper proposes a method based on bundle adjustment for regional networks, utilizing a 3D laser acquisition approach with multi-prism target spheres. The target sphere centers are extracted using a radius-constrained random sample consensus (RANSAC) sphere fitting method. By applying coordinate transformations between the absolute coordinates of the station point cloud origins, the relative coordinates of the target centers, and the absolute coordinates of the target centers, a global solution for the positions and orientations of all stations is achieved using bundle adjustment. The method was validated using scan data from the National Speed Skating Oval. The results show that after point cloud matching, the internal consistency accuracy is 2.6 mm, and the external consistency accuracy is 1.9 mm, demonstrating higher acquisition accuracy compared to existing methods.

Key words: 3D laser scanning, target sphere prism, beam legalization, ice making pipes, the National Speed Skating Oval

CLC Number:

P232

Qingzhou MAO, Mengxuan XIA, Qingquan LI, Jing ZHU, Tingli FAN. Global registration method for multi-station point clouds based on the bundle adjustment method[J]. Acta Geodaetica et Cartographica Sinica, 2024, 53(9): 1663-1670.

Figures/Tables 10

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指标	数值
扫描距离/m	0.6~150
扫描速度/(点/s)	最高976 000
测量误差/mm	±1
角精度/(″)	19

测站号	内符合精度		外符合精度
测站号	独立配准	光束法全局配准	独立配准	光束法全局配准
1	3.1	2.5	2.3	2.0
2	2.3	1.9	1.8	1.8
3	3.7	3.0	2.7	2.4
4	2.1	2.0	1.2	1.3
5	5.2	3.6	3.9	3.0
6	5.4	3.8	3.8	3.1
7	3.9	3.1	2.5	2.2
8	4.0	3.4	2.8	2.3
9	3.6	3.0	3.1	2.5
10	2.9	2.1	1.9	1.9
11	4.1	3.2	3.3	2.5
12	3.8	2.6	2.2	2.0
13	3.4	2.9	2.9	2.1
平均	3.7	2.9	2.6	2.2

方法	内符合精度	外符合精度
独立配准	4.0	2.8
光束法全局配准	2.6	1.9