Register Aircraft Point-Clouds Based on Point Features

Abstract

The 3D models obtained from laser radar are often used to analyze the objects’ reconstruction. Due to the target’s structure and the viewing angle, multi-angle scan are demanded to cover target’s whole surface, which means data got from different directions need to be spliced together. The ICP algorithm can register accurately. But if the surface of target is complex, such as aircrafts, the direct use of ICP algorithm is difficult to complete. In this paper, the corresponding points are found by the point features: normal vector, curvature and point feature histogram descriptor. The initial registration with rotation matrix and translation vector calculated from the corresponding points can be achieved. Then, improved ICP algorithm can be used to register accurately. This method is accurate and reliable with the test of aircrafts data.