An Improved Algorithm of Precise Point Cloud Registration

Abstract

Basing on the application of digital protection of cultural sites, this paper presented a precise algorithm for the multi-resolution point cloud based on sequence iterative. Firstly, based on the synchronous scanning image, a rough registration of the adjacent point cloud can be obtained in an interactive way. Secondly, based on a normal-based algorithm of registration sphere center, the points of sphere surface are filtered from all scanned point cloud data according to the normal data points and the characteristic of viewpoint, and then the center of registration sphere can be calculated accurately and the initial registration of the adjacent point cloud can be obtained by setting Matching Registration Labels mode as the constraint condition. Finally, based on the 3D edge points of the adjacent point cloud from mahalanobis distance calculations, some overlapping images can be eliminated by the way of constantly optimizing the transition matrix in the iteration process. The engineering practice of the Small Wild Goose Pagoda in Tang Dynasty and the Ancient Tomb in Han Dynasty proves that the method is reliable and easy to design and implement and can effectively restrain the accumulative errors of sequence registrations.