Journal of Geo-information Science

Cross-source Point Cloud Registration Method Based on Line-Planar Feature Constraints

LI Huarong, MAO Hongyu, ZHAO Yi, BI Ailin, CHEN Tuan, XIN Wei, ZHONG Tao

Journal of Geo-information Science, 2024, 26(5): 1180-1192. DOI: 10.12082/dqxxkx.2024.230653

方案	旋转矩阵R	平移参数X_t, Y_t, Z_t	尺度因子s
line1、line4两对同名线	$1.636 - 1.657 0.089 1.654 1.618 - 0.273 0.132 0.255 2.313$	(627 131.580, 3 256 636.70, -545.760)	2.313
lin1—line4四对同名线	$1.631 - 1.672 0.093 1.668 1.610 - 0.298 0.149 0.274 2.316$	(627 133.967, 3 256 643.900, -554.841)	2.316

Tab. 2 Registration transformation calculation result

Other figure/table from this article

Fig. 1 Flowchart of cross-source point cloud registration based on line-planar feature constraints
Fig. 2 Point cloud data and homonymous line feature
Tab. 1 Endpoint data of homonymous lines
Fig. 3 Point cloud registration results
Fig. 4 Cross-source point cloud experimental data
Fig. 5 Experimental data for individual buildings in small area
Fig. 6 Homonymous line registration data
Fig. 7 Transformation parameters and registration results of coarse registration
Fig. 8 Transformation parameters and registration results of fine registration
Fig. 9 Experimental data for small-area multi-building complexes
Tab. 3 Registration data of the same name line in a small area
Fig. 10 Coarse alignment results
Fig. 11 Precise matching of results
Tab. 4 Registration results of multiple building groups in large area
Tab. 5 RMSE calculated by each algorithm in different scenarios
Tab. 6 The angle between planes and the distance between the center point and the plane