This paper presents a new approach to the automatic registration of terrestrial laser scanning (TLS) point clouds using panoramic reflectance images. The approach follows a two-step procedure that includes both pair-wise registration and global registration. The pair-wise registration consists of image matching (pixel-to-pixel correspondence) and point cloud registration (point-to-point correspondence), as the correspondence between the image and the point cloud (pixel-to-point) is inherent to the reflectance images. False correspondences are removed by a geometric invariance check. The pixel-to-point correspondence and the computation of the rigid transformation parameters (RTPs) are integrated into an iterative process that allows for the pair-wise registration to be optimised. The global registration of all point clouds is obtained by a bundle adjustment using a circular self-closure constraint. Our approach is tested with both indoor and outdoor scenes acquired by a FARO LS 880 laser scanner with an angular resolution of 0.036° and 0.045°, respectively. The results show that the pair-wise and global registration accuracies are of millimetre and centimetre orders, respectively, and that the process is fully automatic and converges quickly.
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机译:本文提出了一种使用全景反射率图像自动注册地面激光扫描(TLS)点云的新方法。该方法遵循两步过程,包括成对注册和全局注册。逐对配准由图像匹配(像素到像素对应)和点云配准(点对点对应)组成,因为图像和点云之间的对应关系(像素对点)是固有的反射率图像。错误的对应关系将通过几何不变性检查得到消除。像素到点的对应关系以及刚性变换参数(RTP)的计算被集成到一个迭代过程中,该过程允许成对配准得到优化。所有点云的全局配准通过使用圆形自闭合约束的束调整获得。我们的方法经过FARO LS 880激光扫描仪在室内和室外场景下的测试,分别具有0.036°和0.045°的角分辨率。结果表明,成对和全局配准精度分别为毫米和厘米量级,并且该过程是全自动的,并且收敛迅速。
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