A registration method of airborne and vehicle LiDAR point clouds considering the characteristics of eaves

Abstract

The invention discloses an airborne and vehicle-mounted LiDAR point cloud registration method considering the characteristics of eaves, which belongs to the field of mobile measurement technology. It first denoises and filters the airborne and vehicle-mounted LiDAR point cloud data, and extracts them from ground object points. Building point cloud and feature corners; establish a local neighborhood similarity measurement model to realize fast automatic matching of airborne and vehicle-mounted LiDAR pseudo-identical points, and use pseudo-identical point pairs to achieve rough registration; then based on the direction prediction algorithm The vehicle-mounted LiDAR building outline is expanded to construct a set of potential eaves feature points; finally, two ICP algorithms are used to realize the true same-name point pair matching and iterative fine registration of the vehicle-mounted and vehicle-mounted LiDAR point clouds. The invention realizes the high-precision registration of the airborne and vehicle-mounted LiDARs, and effectively solves the problems that the airborne and vehicle-mounted LiDAR data have less features of the same name and low registration accuracy under the influence of eaves.

Description

technical field [0001] The invention belongs to the technical field of mobile measurement, and in particular relates to an airborne and vehicle-mounted LiDAR point cloud registration method in consideration of eaves features. Background technique [0002] The LiDAR (Light Detection and Ranging, LiDAR) system integrates sensors such as laser scanners, global satellite navigation systems, and inertial navigation systems, and can quickly obtain three-dimensional high-precision laser point clouds. The LiDAR system can obtain terrain three-dimensional data information with high efficiency, high precision, automation and directness through high-speed laser scanning measurement. Compared with traditional measurement methods, LiDAR measurement is basically not limited by light and weather conditions, and has the advantages of short cycle, fast speed, low cost, and high efficiency, which fully meets the timeliness requirements of 3D terrain modeling and updating, and has a relatively...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the above-mentioned technical problems existing in the prior art, the present invention proposes an airborne and vehicle-mounted LiDAR point cloud registration method that takes into account the characteristics of the eaves. Suitable for problems such as eaves area

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