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

场景	二面角θ /(°)	$d i s t a n c e_c e n t e r$	$(p i) / (q i)$ $d i s t a n c e_c e n t e r$
小区域单建筑	0.557 8	0.117	0.109
小区域单建筑	1.371 6	0.012	0.004
小区域多建筑	1.564 1	0.216	0.216
	0.381 2	0.177	0.169
	1.723 1	0.089	0.090
大区域建筑群	0.092 8	0.649	0.644
	0.416 4	0.613	0.604
	0.363 7	0.462	0.460

Tab. 6 The angle between planes and the distance between the center point and the plane

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
Tab. 2 Registration transformation calculation result
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