Joint Solution of Point Cloud's Georeferencing Parameters Based on Points and Line Mixed Primitives

In the current digital age, it is the basis for multi-source data fusion that unifying the spatial reference of different scanning point clouds to the geographic coordinate system. A key issue in georeferencing is to obtain high-precision georeferenced point clouds with least efforts. In the case of minimum control primitives, there are not joint solutions of georeferencing parameters based on mixed control primitives. Line primitives are widely present in point clouds, so a joint solution of georeferencing parameters based on two control points and one control line is presented. According to the translation model of 3D point, the properties of antisymmetric matrix and Rodrigues matrix, the translation model of two control points and one control line is deduced. Furthermore, the rotation matrix and georeferencing parameters of single station point cloud georeferencing is calculated, and then the coarse georeferencing is achieved. Experiments show that our proposed method has high efficiency and less efforts. The root mean square error (RMSE) of plane position is 11.20 mm, and the RMSE of place position is16.66 mm. Our proposed method can be used as the way to obtain the initial value of georeferencing parameters in precise georeferencing.