Pairwise coarse registration of point clouds by traversing voxel-based 2-plane bases

Abstract

ABSTRACT To obtain the complete coverage when scanning a large-scale scene using a laser scanner, registration of pairwise point clouds by the corresponding geometric features is usually necessary under the condition of insufficient direct geographic reference information of GNSS sensors. In this paper, we propose a target-less coarse registration method for pairwise point clouds using the corresponding voxel-based planes, which are identified by a pair of conjugate 2-plane bases. The voxel-based planes are firstly extracted from the entire point cloud with 3D cubic grids decomposed by the octree-based voxelization; Then, the 2-plane bases in each point cloud are constructed, and by comparing the dihedral angles of two 2-plane bases that come from the source and target point clouds, respectively, the conjugate 2-plane base pairs are generated one by one; Next, a set of plane correspondences is identified by a pair of conjugate 2-plane bases, and its corresponding largest consistency planes (LCP) set is calculated; Finally, a series of plane correspondence sets are obtained using the generated pairs of conjugate 2-plane bases, and the one with the highest LCP is used to compute the transformation matrix between the pairwise point clouds. Experimental results revealed that our proposed pairwise coarse registration method can be effective for aligning point clouds acquired from indoor and outdoor scenes, with rotation errors less than 0.4 degrees, translation errors less than 0.4 m, root mean square distance (RMSD) less than 0.42 m, and successful registration rate (SRR) about 98%. Furthermore, our proposed method was more efficient than the point- and line-based methods under the same hardware and software configuration conditions.