FULL AUTOMATIC REGISTRATION OF LASER SCANNER POINT CLOUDS (original) (raw)

2003, In: Gruen, A., Kahmen, H. (Eds.), Optical 3-D Measurement Techniques VI, Zurich, Switzerland, September 22-25, vol. I, pp. 330-337.

ABSTRACT The registration of point clouds that are acquired from different laser scanner standpoints is an essential task in the environment modelling works. In this paper, a full automatic point cloud registration scheme is presented. Special targets attached onto the object(s) are used as landmarks and their 3-D coordinates are measured with a theodolite in a ground coordinate system before the scanning process. The presented registration scheme can automatically find these targets in the point clouds using radiometric and geometric information (shape, size, and planarity). At the last step, targets are labelled using the consistent labelling by discrete relaxation in order to find the actual names of the points in the ground control points list. KEY WORDS : Laser Scanning, Point Cloud, Registration, Consistent Labeling, 3-D Similarity Transformation