Point cloud-based reconstruction is a crucial process for process monitoring and as-built modeling, but still a challenging task in construction applications. Due to the finite perspective of a scan, multiple scans from different locations are required to obtain full scene coverage. Then, a registration process is required to transform all point clouds into a common coordinate frame. In this paper, a fully automated target-less point cloud registration method is presented. For this approach, a laser scanning device and a co-registered digital camera are required. This method consists of three major steps for an automatic registration of point clouds. First, it detects common features on the corresponding overlapped images from different locations. Second, it achieves coarse registration using the extracted features on images. Lastly, the fine registration is attained by the iterative closet point (ICP) algorithm. The proposed novel method was tested on a real construction site and the test results of automatic registration of all different scan positions were successfully verified in terms of accuracy.
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