Registration of point clouds is a central problem in many mapping and monitoring applications, such as outdoor and indoor mapping, high-speed railway track inspection, heritage documentation, building information modeling, and others. However, ensuring the global consistency of the registration is still a challenging task when there are multiple point clouds because the different scans should be transformed into a common coordinate frame. The aim of this paper is the registration of multiple terrestrial laser scanner point clouds. We present a plane-based matching algorithm to find plane-to-plane correspondences using a new parametrization based on complex numbers. The multiplication of complex numbers is based on analysis of the quadrants to avoid the ambiguity in the calculation of the rotation angle formed between normal vectors of adjacent planes. As a matching step may contain several matrix operations, our strategy is applied to reduce the number of mathematical operations. We also design a novel method for global refinement of terrestrial laser scanner data based on plane-to-plane correspondences. The rotation parameters are globally refined using operations of quaternion multiplication, while the translation parameters are refined using the parameters of planes. The global refinement is done non-iteratively. The experimental results show that the proposed plane-based matching algorithm efficiently finds plane correspondences in partial overlapping scans providing approximate values for the global registration, and indicate that an accuracy better than 8 cm can be achieved by using our global fine plane-to-plane registration method.

中文翻译：

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使用面到面对应的全球激光扫描仪点云配准

点云的注册是许多制图和监视应用程序中的中心问题，例如室外和室内制图，高速铁路轨道检查，遗产文件，建筑信息模型等。但是，当存在多个点云时，确保配准的全局一致性仍然是一项艰巨的任务，因为应将不同的扫描结果转换为一个公共坐标系。本文的目的是配准多个地面激光扫描仪点云。我们提出一种基于平面的匹配算法，以使用基于复数的新参数化来查找平面间的对应关系。复数的乘法基于对象限的分析，以避免计算相邻平面的法向矢量之间形成的旋转角度时出现歧义。由于匹配步骤可能包含多个矩阵运算，因此我们的策略适用于减少数学运算的数量。我们还设计了一种新的方法，用于根据平面间的对应关系对地面激光扫描仪数据进行全局优化。使用四元数乘法运算可全局优化旋转参数，而使用平面参数可优化转换参数。全局优化是非迭代完成的。