Aiming at the narrow and long tunnel structure, few internal features, and a large amount of point cloud data, the existing registration algorithms and commercial software registration results are not ideal, an iterative global registration algorithm is proposed for massive underground tunnel point cloud registration, which is composed of local initial pose acquisition and global adjustment. Firstly, the feature point coordinates in the point cloud are extracted, and then the station-by-station registration is performed according to the Rodrigues matrix. Finally, the registration result is considered as the initial value of the parameter, and the global adjustment of all observations is carried out. The observation values are weighted by the selection weight iteration method and the weights are constantly modified in the iteration process until the threshold conditions are met and the iteration stops. In this paper, the experimental data, made up of 85 stations of point cloud data, are from the Xiamen subway tunnel, which is about 1300 m long. When the accumulated error of station-to-station registration is too large, several stations are regarded as partial wholes, and the optimal registration is achieved through multiple global adjustments, and the registration accuracy is within 5 mm. Experimental results confirm the feasibility and effectiveness of the algorithm, which provides a new method for point cloud registration of underground space tunnel.

针对隧道结构狭长，内部特征少，点云数据量大等问题，现有的配准算法和商业软件的配准结果都不理想，提出了一种用于大规模地下隧道点云配准的迭代全局配准算法，它由本地初始姿势获取和全局调整组成。首先提取点云中的特征点坐标，然后根据罗德里格斯矩阵进行逐站配准。最后，将注册结果视为参数的初始值，并对所有观测值进行全局调整。观察值通过选择权重迭代方法进行加权，并且在迭代过程中不断修改权重，直到满足阈值条件并且迭代停止为止。本文的实验数据由85个点云数据站点组成，其数据来自厦门地铁隧道，该隧道长约1300 m。站到站对位的累积误差太大时，将几个站视为部分整体，并通过多次全局调整实现最优对位，对位精度在5mm以内。实验结果证明了该算法的可行性和有效性，为地下空间隧道的点云配准提供了一种新方法。由85个点云数据站组成，来自厦门地铁隧道，长约1300 m。站到站对位的累积误差太大时，将几个站视为部分整体，并通过多次全局调整实现最优对位，对位精度在5mm以内。实验结果证明了该算法的可行性和有效性，为地下空间隧道的点云配准提供了一种新方法。由85个点云数据站组成，来自厦门地铁隧道，长约1300 m。站到站对位的累积误差太大时，将几个站视为部分整体，并通过多次全局调整实现最优对位，对位精度在5mm以内。实验结果证明了该算法的可行性和有效性，为地下空间隧道的点云配准提供了一种新方法。对位精度在5毫米以内。实验结果证明了该算法的可行性和有效性，为地下空间隧道的点云配准提供了一种新方法。对位精度在5毫米以内。实验结果证明了该算法的可行性和有效性，为地下空间隧道的点云配准提供了一种新方法。