Alignment of the point clouds for modeling the interior of

摘要

The present invention relates to a method for determining an alignment of a source point cloud in relation to a target point cloud, wherein the source - and the target point cloud, in each case, partial models the interior of a building structure and are aligned with respect to a gravity axis and at least a small overlap with respect to the actual building geometry. In a first step, a source signature histogram of the source point cloud at a target signature histogram of the target point cloud cross-correlated, in order to provide a rotation of the source point cloud to determine. In a second step, by means of pairs of a translation histogram is calculated, wherein each come into a source point from the source of a point cloud and a target point from the target point cloud, in order to allow a displacement of the source point cloud to determine.