Point cloud registration is essential for processing terrestrial laser scanning (TLS) point cloud datasets. The registration precision directly influences and determines the practical usefulness of TLS surveys. However, in terms of target based registration, analytical point cloud registration error models employed by scanner manufactures are only suitable to evaluate target registration error, rather than point cloud registration error. This paper proposes an new analytical approach called the registration error (RE) model to directly evaluate point cloud registration error. We verify the proposed model by comparing RE and root mean square error (RMSE) for all points in three point clouds that are approximately equivalent.

点云配准对于处理地面激光扫描（TLS）点云数据集至关重要。配准精度直接影响并确定TLS调查的实用性。但是，就基于目标的配准而言，扫描仪制造商采用的分析点云配准误差模型仅适用于评估目标配准误差，而不是点云配准误差。本文提出了一种新的分析方法，称为配准误差（RE）模型，可以直接评估点云配准误差。我们通过比较近似等价的三个点云中所有点的RE和均方根误差（RMSE）来验证所提出的模型。