Abstract
A improved RANSAC algorithm was introduced into the segmentation of LiDAR and r-radius point density was put forward to the estimation criterion,which aims to remove the discrete point outside the feature plane.an accurate registration is achieved by improving RANSAC algorithim after an analysis on the advantages and disadvantages of the algorithm for objects with many planar feature.The algorithm are implemented with VC++ and VTK platform,tested by real data collected on the test area,it verify the effectiveness and accuracy of the proposed algorithms.
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