以三維直線特徵進行地面光達點雲套合

Registration of Terrestrial LidAR Point Clouds by Means of 3D Line Features

趙鍵哲(Jen-Jer Jaw) ； 莊子毅(Tzu-Yi Chuang)

《航測及遙測學刊》 13卷3期 (2008/09) Pp. 169-182

https://doi.org/10.6574/JPRS.2008.13(3).2

摘要

本研究針對地面光達點雲資料以三維直線特徵爲基礎進行特徵萃取、特徵匹配及空間相似轉換，以完成連續測站之點雲資料套合。研究工作內容可分爲三個主要發展核心：三維直線特徵萃取器、三維直線特徵匹配機制與以三維直線特徵爲基礎的點雲套合數學模式。特徵萃取採用影像處理技術由光達點雲提取三維直線特徵，並以三維直線特徵匹配機制透過幾何約制找尋共軛直線配對，做爲點雲資料套合元件；而以三維直線特徵爲基礎的點雲套合模式則以線性模式提供轉換參數之近似解作爲非線性嚴密模式之參數起始值，可避免參數起始值給予問題且減少人爲介入；在套合轉換計算上爲避免套合轉換誤差累積，本研究採用同時平差解算(Simultaneous Adjustment)模式。由實驗成果顯示本文所提出以三維直線特徵爲基礎之方法對於具結構物場景確實可有效率地完成地面光達點雲資料套合，而對於其它場景則應可做爲點雲資料套合處理的可能選項。

關鍵字

地面光達 ； 三維直線特徵 ； 套合 ； 同時平差解算

並列摘要

In this paper, the authors elaborate on an innovative approach for registering terrestrial LiDAR point clouds of overlapping scans based on 3D line features. The proposed working scheme consists of three major kernels: a 3D line feature extractor, a 3D line feature matching mechanism, and a mathematical model for simultaneously registering LiDAR point clouds of multi-scans on a 3D line feature basis. The combination of approximate and rigorous transformation models makes fully automatic transformation possible. Besides, the simultaneous adjustment prevents errors from being accumulative among scans. Experiments conducted show the proposed method of employing 3D line features to be a useful alternative or complement to point, surface and other features for LiDAR point clouds registration. It is especially effective in areas rich in man-made structures.

並列關鍵字

Terrestrial LiDAR ； 3D Line Feature ； Registration ； Simultaneous Adjustment