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Journal of Applied Remote Sensing

Automatic registration of laser point cloud using precisely located sphere targets
Author(s): Yanmin Wang; Hongbin Shi; Yanyan Zhang; Dongmei Zhang
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Paper Abstract

Sphere targets are used extensively in terrestrial laser scanning registration; however, in practice, it is still a time-consuming and labor-intensive task. This paper proposes an automatic registration method for laser point clouds based on sphere targets’ detection. First, a modified eight-neighbors check method is applied to mark occluding edge points. Then, for the sphere targets in the raster structure, occluding edge points are clustered, and circle and sphere detections are sequentially implemented in the cluster node and circular area, respectively. The sphere models that pass through multilevel constraints are considered the final results. Next, triangles constructed using three arbitrary noncollinear sphere centers in each scan station are selected as registration primitives and the area and interior angles of each are selected as similarity measures. Finally, the congruent sphere centers between two scan stations are matched in an iterative manner and used to calculate the transformation matrix. The results of experiments in which a lab was scanned from two locations indicate that our method can effectively detect four sphere targets in more than 10 million point clouds within ∼1.5  min, with the largest position error between congruent points <2  mm.

Paper Details

Date Published: 18 July 2014
PDF: 14 pages
J. Appl. Remote Sens. 8(1) 083588 doi: 10.1117/1.JRS.8.083588
Published in: Journal of Applied Remote Sensing Volume 8, Issue 1
Show Author Affiliations
Yanmin Wang, Wuhan Univ. (China)
Beijing Univ. of Civil Engineering and Architecture (China)
Hongbin Shi, Wuhan Univ. (China)
Yanyan Zhang, Beijing Univ. of Civil Engineering and Architecture (China)
Dongmei Zhang, Beijing Univ. of Civil Engineering and Architecture (China)


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