目前,机载与地面激光雷达(LiDAR)点云配准方法大多利用三维点云的几何信息来获取机载与地面LiDAR点云的同名特征,并计算点云坐标转换参数,实现点云配准;提出了一种基于激光强度分类的配准新方法,首先对机载与地面LiDAR点云的激光强度信息进行纠正与分类,然后基于分类结果提取特征平面,将特征平面间的拓扑关系与分类结果作为约束条件,匹配得到同名特征平面,最后计算坐标转换参数,实现机载与地面LiDAR点云配准。实验结果表明:与传统方法相比,所提方法可以减小机载与地面LiDAR因扫描角度、点密度不同而导致的配准误差;在机载与地面LiDAR同名特征几何形状不完全一致的情况下,所提方法仍可得到较好的配准效果。

Numerous registration methods for airborne and terrestrial light detection and ranging (LiDAR) point cloud utilize geometry information of three-dimensional point cloud. Corresponding features of airborne and terrestrial LiDAR point cloud are matched, and point cloud coordinate transformation parameters are calculated to realize point cloud registration. A new registration method based on laser intensity classification is proposed. Firstly, the laser intensity of airborne and terrestrial LiDAR point cloud is corrected and classified. Then, the plane features are extracted by the classification results. The corresponding plane features are matched taking topological relationship and the classification results as constraint conditions. Finally, the coordinate transformation parameters are calculated to register the airborne and terrestrial LiDAR point cloud. The results show that compared with traditional methods, the proposed method can reduce registration errors from differences of the scanning angle and density between airborne and terrestrial LiDAR. The proposed method can still achieve accurate registration effect when the geometry shapes of the corresponding features of airborne and terrestrial LiDAR are not completely identical.