A Registration Method Based on Line Cluster for Terrestrial LiDAR Point Clouds

The high precision terrestrial LiDAR point clouds registration is the key to ensure 3D topological reconstruction of spatial objects. The reference LiDAR point clouds and the LiDAR point clouds to be registered have the issue of different position, attitude and scale. A registration method based on line cluster is proposed. Firstly, line cluster of the reference LiDAR point clouds and the LiDAR point clouds to be registered is respectively established according to the topological relation of lines. Then conjugate lines of point clouds are represented in Plücke coordinate. Through the spiral zooming motion of line cluster of the LiDAR point clouds to be registered, finally the scale of the two LiDAR point clouds is the same and the conjugate Plücke lines coincide with each other. The collinearity equations based on line cluster can solve the scale factor and the relative position and attitude simultaneously with high precision. The experimental results show that, the spiral and scaling of the line cluster enhances the geometric constraints of the registration equation, improves the ability of anti-noise, and realizes the high precision of terrestrial LiDAR point clouds registration.