期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2011
卷号：XXXVIII - 5/W12
页码：55-60
DOI：10.5194/isprsarchives-XXXVIII-5-W12-55-2011
出版社：Copernicus Publications
摘要：The estimation of the transformation parameters between different point clouds is still a crucial task as it is usually followed by scene reconstruction, object detection or object recognition. Therefore, the estimates should be as accurate as possible. Recent developments show that it is feasible to utilize both the measured range information and the reflectance information sampled as image, as 2D imagery provides additional information. In this paper, an image-based registration approach for TLS data is presented which consists of two major steps. In the first step, the order of the scans is calculated by checking the similarity of the respective reflectance images via the total number of SIFT correspondences between them. Subsequently, in the second step, for each SIFT correspondence the respective SIFT features are filtered with respect to their reliability concerning the range information and projected to 3D space. Combining the 3D points with 2D observations on a virtual plane yields 3D-to-2D correspondences from which the coarse transformation parameters can be estimated via a RANSAC-based registration scheme including the EPnP algorithm. After this coarse registration, the 3D points are again checked for consistency by using constraints based on the 3D distance, and, finally, the remaining 3D points are used for an ICP-based fine registration. Thus, the proposed methodology provides a fast, reliable, accurate and fully automatic image-based approach for the registration of unorganized point clouds without the need of a priori information about the order of the scans, the presence of regular surfaces or human interaction
关键词：Laser Scanning; TLS; point cloud; registration; image-based; graph-based; automation
