Registration of Terrestrial Laser Scanning Data Based on Projection Distribution Entropy

Jianguo Liang; Maolin Chen; Hong Ma

doi:10.3788/LOP56.131501

Laser & Optoelectronics Progress, Volume. 56, Issue 13, 131501(2019)

Registration of Terrestrial Laser Scanning Data Based on Projection Distribution Entropy

Jianguo Liang^1,2, Maolin Chen³, and Hong Ma^1,2、*

Author Affiliations

¹ Chongqing Survey Institute, Chongqing 401121, China

² Chongqing Engineering Research Center of Geographic National Condition Monitoring, Chongqing 401121, China

³ School of Civil Engineering, Chongqing Jiaotong University, Chongqing 400074, China

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Abstract Get PDF(in Chinese)

Figures & Tables(13)

Fig. 1. Point cloud distributions corresponding to different rotation parameters. (a) Correct registration;(b) incorrect registration 1; (c) incorrect registration 2; (d) point cloud distribution of correct registration; (e) point cloud distribution of incorrect registration 1; (f) point cloud distribution of incorrect registration 2

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Fig. 2. Relationship between entropy change and rotation angle around z axis. 0° corresponds to space distribution of correct registration

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Fig. 3. Three groups of point clouds before and after registration. (a) Dataset 1 before registration; (b) dataset 2 before registration; (c) dataset 3 before registration; (d) dataset 1 after registration; (e) dataset 2 after registration; (f) dataset 3 after registration

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Fig. 4. Registration errors caused by view change and structural similarity and symmetry. (a) Incorrect registration caused by view change and structural symmetry; (b) incorrect registration caused by structural similarity; (c) incorrect translation caused by structural similarity; (d) rotation error caused by structural symmetry

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Fig. 5. Registration error and time in terms of different tG. (a)(b) S2-S3 of dataset 1; (c)(d) S2-S3 of dataset 2; (e)(f) S1-S2 of dataset 3

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Fig. 6. Density change experiments corresponding to different sampling ratios

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Table 1. Basic information of datasets

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Table 1. Basic information of datasets

Item	Dataset 1	Dataset 2	Dataset 3
Scanner	Reigl-VZ400	Reigl-VZ400	STONEX300
Angularresolution /(°)	0.04	0.04	0.08
Point densityrange /cm	0.1-6	0.1-7	0.5-13
Averagepoint number	4073886	11821030	2081043
Number of stations	6	6	3
Station positionacquisition method	Tapemeasure	MobileGPS	RTK

Table 2. Distances between adjacent station positions and registration order

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Table 2. Distances between adjacent station positions and registration order

Source	Reference	Dataset 1		Dataset 2		Dataset 3
Source	Reference	Initialdistance /m	Referencedistance /m	Initialdistance /m	Referencedistance /m	Initialdistance /m	Referencedistance /m
S1	S2	15.150	15.127	43.4	28.712	31.513	31.520
S2	S3	18.060	18.322	43.0	46.529	37.768	37.724
S3	S4	20.813	20.791	44.5	38.302	-	-
S5	S4	17.909	17.908	54.4	47.843	-	-
S6	S5	18.864	17.173	48.7	28.896	-	-

Table 3. Registration error

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Table 3. Registration error

Dataset	Conversion parameter error						Distance error
Dataset	Δφ /(°)	Δω /(°)	Δκ /(°)	Δx /cm	Δy /cm	Δz /cm	RMSD /cm	Station distance error /cm
Dataset 1	0.12	0.15	0.06	4.3	4.2	1.5	3.1	2.2
Dataset 2	0.20	0.22	0.09	6.5	5.5	3.9	2.3	4.9
Dataset 3	0.30	0.24	0.11	8.0	7.0	2.5	2.9	8.5

Table 4. Registration results of dataset 1

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Table 4. Registration results of dataset 1

Source	Reference	Overlap rate /%	Method	Number ofsuccessful/failed runs	Execution time ofcoarse registration /s
			SIFT	1/1	8.336
S1	S2	52.4	FPFH	27/30	178.3±11.2
			Proposed method	20/26	43.6±12.2
			SIFT	0/1	7.678
S2	S3	23.1	FPFH	1/30	169.1±4.8
			Proposed method	22/26	41.6±10.4
			SIFT	1/1	8.492
S3	S4	35.7	FPFH	17/30	220.5±9.6
			Proposed method	18/26	55.4±13.3
			SIFT	0/1	4.651
S5	S4	24.9	FPFH	6/30	211.9±7.0
			Proposed method	17/26	47.3±11.2
			SIFT	0/1	8.633
S6	S5	25.9	FPFH	1/30	40.1±13.4
			Proposed method	11/26	22.0±7.0

Table 5. Registration results of dataset 2

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Table 5. Registration results of dataset 2

Source	Reference	Overlap rate /%	Method	Number ofsuccessful/failed runs	Execution time ofcoarse registration /s
			SIFT	0/1	18.7
S1	S2	23.7	FPFH	1/30	1470.2±28.8
			Proposed method	12/26	100.2±47.8
			SIFT	0/1	17.8
S2	S3	26.6	FPFH	2/30	966.6±38.7
			Proposed method	20/26	162.2±27.0
			SIFT	0/1	16.9
S3	S4	19.3	FPFH	0/30	2587.7±153.8
			Proposed method	14/26	194.5±52.9
			SIFT	0/1	13.5
S5	S4	29.6	FPFH	1/30	2090.2±281.5
			Proposed method	15/26	139.5±103.3
			SIFT	0/1	11.2
S6	S5	32.1	FPFH	1/30	1543.6
			Proposed method	13/26	158.2±29.6

Table 6. Registration results of dataset 3

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Table 6. Registration results of dataset 3

Source	Reference	Overlap rate /%	Method	Number ofsuccessful/failed runs	Execution time ofcoarse registration /s
			S1	S2	17.6
SIFT	0/1	48.3	FPFH	1/30	2438.3±261.7
			Proposed method	19/26	99.5±74.8
			SIFT	0/1	49.127
S2	S3	22.9	FPFH	2/30	3477.1±318.1
			Proposed method	15/26	88±75.2

Table 7. Registration mean root errors corresponding to different tilted angles
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Table 7. Registration mean root errors corresponding to different tilted angles
Rotation angle /(°) 1 2 3 4 5 6 7 8 9 10
Around X axis /cm 4.0 4.1 4.1 4.1 4.3 4.3 Failure Failure Failure Failure
Around Y axis /cm 4.1 4.0 4.2 4.1 4.2 4.3 Failure Failure Failure Failure

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Jianguo Liang, Maolin Chen, Hong Ma. Registration of Terrestrial Laser Scanning Data Based on Projection Distribution Entropy[J]. Laser & Optoelectronics Progress, 2019, 56(13): 131501

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