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- 2018
直线簇约束下的地面LiDAR点云配准方法
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Abstract:
高精度的地面LiDAR点云配准是空间目标三维表面拓扑重建的关键，针对待配准LiDAR点云和基准LiDAR点云存在位置、姿态和比例缩放差异的问题，提出了基于直线簇的地面LiDAR点云配准方法。首先，根据直线间相交、平行和异面的拓扑关系，分别对待配准和基准LiDAR点云的直线进行聚簇，构建直线簇；然后，分别将同名直线用Plücker坐标表示，通过待配准LiDAR点云的直线簇在空间中的螺旋缩放运动，使其与基准LiDAR点云的直线簇比例尺一致，且同名Plücker直线重合，构建基于直线簇的共线条件方程，实现了比例因子和相对位姿一体化解算。实验结果表明，直线簇的螺旋缩放增强了配准方程的几何约束性，提高了抗噪声能力，实现了高精度的地面LiDAR点云配准
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