Chinese Journal of Lasers, Volume. 48, Issue 17, 1710002(2021)
Multiview Terrestrial Laser Scanning Point Cloud Registration Method Based on Laser Tracker
Figures & Tables(14)
Fig. 2. Laser tracker measurement system. (a) Laser tracker; (b) T-Probe handheld probe; (c) reflector and pedestal
Fig. 5. Measurement system. (a)Instrument and object; (b) local magnification of scanner
Fig. 7. Registration results from different perspectives. (a)--(d) Coarse registration results; (e) local magnification of coarse registration result; (f)--(i) accurate registration results; (j) local magnification of precise registration result
Fig. 9. Registration results of statue from different perspectives. (a) Frontal perspective; (b) 90° viewing; (c) 270°viewing; (d) 180° viewing
Fig. 10. Registration results of unmanned experimental vehicle under different perspectives. (a) Above; (b)(c) 0° and 90°; (d)(e) 180° and 270°
Table 1. Coarse registration error of neighboring station point cloud
View tableTable 1. Coarse registration error of neighboring station point cloud
Statue overlap area /mm Coarse registration /RMS Industrial device overlap area /mm Coarse registration /RMS S12 0.66 I12 0.56 S23 0.51 I23 0.67 S34 0.48 I34 0.65 S41 0.71 I41 0.68
Table 2. Precise registration error of neighboring station point cloud
View tableTable 2. Precise registration error of neighboring station point cloud
Statue overlap area /mm ICP /RMS Industrial device overlap area /mm ICP /RMS S12 0.18 I12 0.12 S23 0.19 I23 0.13 S34 0.12 I34 0.04 S41 0.14 I41 0.07
Table 3. Deviation of marking points unit: m
View tableTable 3. Deviation of marking points unit: m
Serial number True value Measurement dX dY dZ Deviation X Y Z X Y Z A 3.854045 2.043060 -0.731043 3.852141 2.042778 -0.730052 0.001904 0.000282 -0.000991 0.002165 B 3.837528 2.139680 -0.702917 3.835734 2.140062 -0.702309 0.001794 -0.000382 -0.000608 0.001932 C 3.911482 2.349449 -0.702390 3.910909 2.348018 -0.701854 0.000573 0.001431 -0.000536 0.001632 D 3.941915 2.477005 -0.701041 3.940384 2.476593 -0.700919 0.001531 0.000412 -0.000122 0.001590 E 3.946203 2.613563 -0.700132 3.946061 2.611508 -0.700132 0.000142 0.002055 0.000000 0.002060 F 3.983856 2.725562 -0.698709 3.982665 2.723969 -0.698069 0.001191 0.001593 -0.000640 0.002089 G 3.884202 2.880149 -0.726915 3.882811 2.879381 -0.726698 0.001391 0.000768 -0.000217 0.001603 H 3.755817 2.770859 -0.699560 3.754152 2.769162 -0.699967 0.001665 0.001697 0.000407 0.002412 I 3.729364 2.922657 -0.732008 3.728376 2.921324 -0.731506 0.000988 0.001333 -0.000502 0.001734 J 3.529337 2.814357 -0.700831 3.527730 2.813142 -0.701545 0.001607 0.001215 0.000714 0.002138 K 3.535536 2.964299 -0.731730 3.534737 2.962755 -0.731491 0.000799 0.001544 -0.000239 0.001755 Serial number True value Measurement dX dY dZ Deviation X Y Z X Y Z L 3.404690 2.971072 -0.720809 3.404365 2.969911 -0.721118 0.000325 0.001161 0.000309 0.001245 M 3.253632 3.028907 -0.732404 3.252974 3.027738 -0.733193 0.000658 0.001169 0.000789 0.001556 N 3.116722 2.878858 -0.703782 3.115175 2.878594 -0.703757 0.001547 0.000264 -0.000025 0.001569 O 2.994037 2.452192 -0.705750 2.992278 2.452173 -0.706052 0.001759 0.000019 0.000302 0.001784 P 3.001766 2.373500 -0.704538 3.001550 2.372954 -0.705976 0.000216 0.000546 0.001438 0.001553 Q 2.937048 2.231523 -0.748692 2.936890 2.230449 -0.747950 0.000158 0.001074 -0.000742 0.001315 R 3.011326 2.166202 -0.736976 3.010121 2.166311 -0.737758 0.001205 -0.000109 0.000782 0.001441 S 3.117890 2.166922 -0.724112 3.116354 2.165675 -0.725483 0.001536 0.001247 0.001371 0.002407 T 3.299000 2.133830 -0.719385 3.297237 2.133577 -0.720010 0.001763 0.000253 0.000625 0.001888 U 3.377920 2.255868 -0.704839 3.376946 2.254402 -0.705421 0.000974 0.001466 0.000582 0.001854 V 3.525863 2.074015 -0.722650 3.525816 2.074665 -0.722099 0.000047 -0.000650 -0.000551 0.000853 W 3.542835 2.219203 -0.704651 3.542162 2.219047 -0.705085 0.000673 0.000156 0.000434 0.000815 X 3.656599 2.140160 -0.702573 3.657006 2.140230 -0.702828 -0.000407 -0.000070 0.000255 0.000485 Y 3.636190 2.048413 -0.722264 3.635042 2.047634 -0.722305 0.001148 0.000779 0.000041 0.001388 Z 3.727651 1.966563 -0.752961 3.726005 1.966300 -0.752167 0.001646 0.000263 -0.000794 0.001846 Average 0.001063 0.000844 0.000539 0.001658
Table 4. Deviation of characteristic lines unit: m
View tableTable 4. Deviation of characteristic lines unit: m
Serial number True value Measurement Deviation Line 1 0.131143 0.131914 -0.000771 Line 2 0.118167 0.118286 -0.000119 Line 3 0.157465 0.157519 -0.000055 Line 4 0.229590 0.229913 -0.000323 Line 5 0.153218 0.152741 0.000477 Line 6 0.162166 0.162508 -0.000343 Line 7 0.205130 0.205180 -0.000050 Line 8 0.443959 0.443784 0.000175 Line 9 0.162158 0.162020 0.000139 Line 10 0.107340 0.106942 0.000398 Line 11 0.184169 0.183790 0.000378 Average 0.000293
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Ge Tan, Xianghong Hua, Wuyong Tao, Bufan Zhao, Cheng Li. Multiview Terrestrial Laser Scanning Point Cloud Registration Method Based on Laser Tracker[J]. Chinese Journal of Lasers, 2021, 48(17): 1710002
Paper Information
Received: Jan. 15, 2021
Accepted: Mar. 1, 2021
Published Online: Sep. 4, 2021
The Author Email: Hua Xianghong (xhhua@sgg.whu.edu.cn)
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