Automatic Pairwise Coarse Registration of Terrestrial Point Clouds Using 3D Line Features
The fully automatic registration of 3D terrestrial laser scanning (TLS) point clouds, which is the first step in the usage of point clouds, is a highly challenging task in Light Detection and Ranging (LiDAR) remote sensing applications. Here, an automatic algorithm for pairwise coarse registration o...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9931121/ |
| _version_ | 1797985055258181632 |
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| author | Yongjian Fu Zongchun Li Feng Xiong Hua He Yong Deng Wenqi Wang |
| author_facet | Yongjian Fu Zongchun Li Feng Xiong Hua He Yong Deng Wenqi Wang |
| author_sort | Yongjian Fu |
| collection | DOAJ |
| description | The fully automatic registration of 3D terrestrial laser scanning (TLS) point clouds, which is the first step in the usage of point clouds, is a highly challenging task in Light Detection and Ranging (LiDAR) remote sensing applications. Here, an automatic algorithm for pairwise coarse registration of TLS point clouds using 3D line features is proposed. First, the 3D line sets were extracted from the original pair of point clouds respectively, and two arbitrary lines from a point cloud were used to construct a 2-line base; Then, a pair of conjugate 2-line bases were identified from the source and target 3D line sets at a time, based on which a 3D rotation matrix together with its corresponding overlap between the pairwise 3D line sets was calculated; Third, a series of 3D rotation matrixes together with their overlaps were obtained using the traversing strategy to identify conjugate 2-line base pairs, and the 3D rotation matrix with the highest overlap was outputted as the final 3D rotation matrix, which was further used to compute the corresponding lines set from the pairwise 3D line sets; Next, based on the set of common perpendicular midpoints between the line correspondences, the 3D translation vector was computed; Finally, the 3D transformation matrix between pairwise point clouds was obtained by combining the 3D rotation matrix and the 3D translation vector. The proposed method was tested on three different TLS datasets, with experimental results demonstrating that the proposed algorithm could perform well on registering pairwise TLS point clouds. The rotation and translation errors of aligning the nine experimental pairwise point clouds were all less than 0.50° and 0.55m, respectively. This registration framework was also shown to be superior to state-of-the-art methods in terms of registration accuracy. |
| first_indexed | 2024-04-11T07:12:28Z |
| format | Article |
| id | doaj.art-a316ddf8d1c44a17a21895442f03a599 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-11T07:12:28Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a316ddf8d1c44a17a21895442f03a5992022-12-22T04:38:08ZengIEEEIEEE Access2169-35362022-01-011011500711502410.1109/ACCESS.2022.32174989931121Automatic Pairwise Coarse Registration of Terrestrial Point Clouds Using 3D Line FeaturesYongjian Fu0https://orcid.org/0000-0002-8976-6066Zongchun Li1Feng Xiong2Hua He3Yong Deng4Wenqi Wang5School of Geospatial Information, PLA Strategic Support Force Information Engineering University, Zhengzhou, ChinaSchool of Geospatial Information, PLA Strategic Support Force Information Engineering University, Zhengzhou, ChinaBeijing Institute of Remote Sensing Information, Beijing, ChinaSchool of Geospatial Information, PLA Strategic Support Force Information Engineering University, Zhengzhou, ChinaSchool of Geospatial Information, PLA Strategic Support Force Information Engineering University, Zhengzhou, ChinaBeijing Institute of Remote Sensing Information, Beijing, ChinaThe fully automatic registration of 3D terrestrial laser scanning (TLS) point clouds, which is the first step in the usage of point clouds, is a highly challenging task in Light Detection and Ranging (LiDAR) remote sensing applications. Here, an automatic algorithm for pairwise coarse registration of TLS point clouds using 3D line features is proposed. First, the 3D line sets were extracted from the original pair of point clouds respectively, and two arbitrary lines from a point cloud were used to construct a 2-line base; Then, a pair of conjugate 2-line bases were identified from the source and target 3D line sets at a time, based on which a 3D rotation matrix together with its corresponding overlap between the pairwise 3D line sets was calculated; Third, a series of 3D rotation matrixes together with their overlaps were obtained using the traversing strategy to identify conjugate 2-line base pairs, and the 3D rotation matrix with the highest overlap was outputted as the final 3D rotation matrix, which was further used to compute the corresponding lines set from the pairwise 3D line sets; Next, based on the set of common perpendicular midpoints between the line correspondences, the 3D translation vector was computed; Finally, the 3D transformation matrix between pairwise point clouds was obtained by combining the 3D rotation matrix and the 3D translation vector. The proposed method was tested on three different TLS datasets, with experimental results demonstrating that the proposed algorithm could perform well on registering pairwise TLS point clouds. The rotation and translation errors of aligning the nine experimental pairwise point clouds were all less than 0.50° and 0.55m, respectively. This registration framework was also shown to be superior to state-of-the-art methods in terms of registration accuracy.https://ieeexplore.ieee.org/document/9931121/Pairwise coarse registration3D line correspondences2-line basecommon perpendicular midpointtraversing strategyterrestrial laser scanning |
| spellingShingle | Yongjian Fu Zongchun Li Feng Xiong Hua He Yong Deng Wenqi Wang Automatic Pairwise Coarse Registration of Terrestrial Point Clouds Using 3D Line Features IEEE Access Pairwise coarse registration 3D line correspondences 2-line base common perpendicular midpoint traversing strategy terrestrial laser scanning |
| title | Automatic Pairwise Coarse Registration of Terrestrial Point Clouds Using 3D Line Features |
| title_full | Automatic Pairwise Coarse Registration of Terrestrial Point Clouds Using 3D Line Features |
| title_fullStr | Automatic Pairwise Coarse Registration of Terrestrial Point Clouds Using 3D Line Features |
| title_full_unstemmed | Automatic Pairwise Coarse Registration of Terrestrial Point Clouds Using 3D Line Features |
| title_short | Automatic Pairwise Coarse Registration of Terrestrial Point Clouds Using 3D Line Features |
| title_sort | automatic pairwise coarse registration of terrestrial point clouds using 3d line features |
| topic | Pairwise coarse registration 3D line correspondences 2-line base common perpendicular midpoint traversing strategy terrestrial laser scanning |
| url | https://ieeexplore.ieee.org/document/9931121/ |
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