Multi-view laser radar (ladar) data registration in obscure environments is an important research field of obscured target detection from air to ground. There are few overlap regions of the observational data in different views because of the occluder, so the multi-view data registration is rather difficult. Through indepth analyses of the typical methods and problems, it is obtained that the sequence registration is more appropriate, but needs to improve the registration accuracy. On this basis, a multi-view data registration algorithm based on aggregating the adjacent frames, which are already registered, is proposed. It increases the overlap region between the pending registration frames by aggregation and further improves the registration accuracy. The experiment results show that the proposed algorithm can effectively register the multi-view ladar data in the obscure environment, and it also has a greater robustness and a higher registration accuracy compared with the sequence registration under the condition of equivalent operating efficiency.
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