Study of Registration and Fusion of Multi-station Terrestrial Laser Scan Point Cloud

GUO JIE, LIU Jian yong, FU Cheng qun, YU QIN


3D-laser scan has been used for collecting accurate and compressed coordinates of objects for many years, and has been regarded as a new revolution in the field of survey after the Global Positioning System (GPS). Laser scanner can obtain a large amount of points which are called as point cloud in a few minutes, including 3D coordinate, intensity and color. However, these point cloud are recorded in the scanner’s own coordinate system, in order to process the data to get more information, algorithms about translating these data from different stations into a unified coordinate system should be adopted, which are named as registration.

This paper describes three main methods of registration, and the data are acquired in different stations. The first algorithm is widely used in most canner software. The second algorithm regard laser scanner as total station which is set on known points. The third algorithm is the main study method which has been proved effective. ICP method is adopted after a little betterment for the initial parameters. A fusion method is also provided to simplify the point cloud, and figures in this paper proved that this method is viable adequately.


Terrestrial Laser Scan Point Cloud; Fusion; Registration;

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