基于Plücker直线的LiDAR点云配准法

高精度的LiDAR点云配准是实现点云数据整体性和保证空间目标三维表面拓扑重建的关键,本文提出了基于Plücker直线的LiDAR点云配准模型,利用Plücker直线表示LiDAR待配准点云与基准点云间的同名直线,根据同名Plücker直线重合的几何拓扑关系,建立Plücker直线共线条件方程,再用最小二乘法确定待配准LiDAR点云与基准点云间的相对位姿参数。结果表明,Plücker直线共线条件配准模型几何约束性较强,配准精度较高。

LiDAR Point Cloud Registration Based on Plücker Line

The high precision LiDAR point cloud registration is the key to achieve overall point cloud data, in the meantime, to ensure the 3D topological reconstruction of spatial objects. In this paper, a new registration method based on Plücker line is proposed. The conjugate lines between reference point cloud and point cloud to be registered are expressed by Plücker line. Then the collinearity equation based on Plücker line is established by the geometric topology relation of the conjugate lines. Finally the relative position and attitude parameters between reference point cloud and point cloud to be registered are solved by least squares method. Experimental results show that the method has strong geometric constraint and high registration precision.