The airborne LiDAR bathymetry (ALB) system is widely used in the fields of sea–land measurement, including seafloor topographic feature description, 3D seafloor model construction, coral reef monitoring, and underwater archaeology. A manned ALB data registration method based on feature curves was proposed considering problems such as sparse ALB data features, low point cloud density, and difficult corresponding feature extraction. First, triangulation network interpolation was used to extract the isoline points of the seafloor point cloud. The curves describing the seafloor topographic trend were generated through cubic parabolic spline function interpolation. Second, the curve deformation energy function was constructed based on the curve features, and a similarity measurement was carried out on the registration curve by integrating the energy function with the longest common subsequence (LCSS) algorithm. The RANSAC and ICP algorithms were used for rough and fine registration, respectively. The effectiveness and robustness of the proposed method were evaluated using two sets of experimental data. The experimental results showed that the average distance between corresponding points in the coarse registration stage reached 0.128 m and 0.136 m. After fine registration, the average point distance between the point cloud coordinates and ground truth reached 0.073 m and 0.267 m, providing an effective and reliable solution for ALB data registration.

机载激光雷达测深（ALB）系统广泛应用于海陆测量领域，包括海底地形特征描述、3D海底模型构建、珊瑚礁监测、水下考古等。针对ALB数据特征稀疏、点云密度低、对应特征提取困难等问题，提出了一种基于特征曲线的载人ALB数据配准方法。首先，利用三角网插值法提取海底点云的等值线点。描述海底地形趋势的曲线是通过三次抛物线样条函数插值生成的。其次，根据曲线特征构造曲线变形能量函数，并将能量函数与最长公共子序列（LCSS）算法相结合，对配准曲线进行相似度测量。RANSAC 和 ICP 算法分别用于粗配准和精配准。使用两组实验数据评估了所提出方法的有效性和鲁棒性。实验结果表明，粗配准阶段对应点之间的平均距离分别达到0.128 m和0.136 m。经过精细配准后，点云坐标与ground truth的平均点距离分别达到0.073 m和0.267 m，为ALB数据配准提供了有效可靠的解决方案。使用两组实验数据评估了所提出方法的有效性和鲁棒性。实验结果表明，粗配准阶段对应点之间的平均距离分别达到0.128 m和0.136 m。经过精细配准后，点云坐标与ground truth的平均点距离分别达到0.073 m和0.267 m，为ALB数据配准提供了有效可靠的解决方案。使用两组实验数据评估了所提出方法的有效性和鲁棒性。实验结果表明，粗配准阶段对应点之间的平均距离分别达到0.128 m和0.136 m。经过精细配准后，点云坐标与ground truth的平均点距离分别达到0.073 m和0.267 m，为ALB数据配准提供了有效可靠的解决方案。