ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-5/W2, 211-216, 2013
https://doi.org/10.5194/isprsannals-II-5-W2-211-2013
© Author(s) 2013. This work is distributed under
the Creative Commons Attribution 3.0 License.
 
16 Oct 2013
Approximate registration of point clouds with large scale differences
D. Novak and K. Schindler Institute of Geodesy and Photogrammetry, ETH Zürich, 8093 Zürich, Switzerland
Keywords: Point cloud, registration, photogrammetry, laser scanning Abstract. 3D reconstruction of objects is a basic task in many fields, including surveying, engineering, entertainment and cultural heritage. The task is nowadays often accomplished with a laser scanner, which produces dense point clouds, but lacks accurate colour information, and lacks per-point accuracy measures. An obvious solution is to combine laser scanning with photogrammetric recording. In that context, the problem arises to register the two datasets, which feature large scale, translation and rotation differences. The absence of approximate registration parameters (3D translation, 3D rotation and scale) precludes the use of fine-registration methods such as ICP. Here, we present a method to register realistic photogrammetric and laser point clouds in a fully automated fashion. The proposed method decomposes the registration into a sequence of simpler steps: first, two rotation angles are determined by finding dominant surface normal directions, then the remaining parameters are found with RANSAC followed by ICP and scale refinement. These two steps are carried out at low resolution, before computing a precise final registration at higher resolution.
Conference paper (PDF, 12960 KB)


Citation: Novak, D. and Schindler, K.: Approximate registration of point clouds with large scale differences, ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-5/W2, 211-216, https://doi.org/10.5194/isprsannals-II-5-W2-211-2013, 2013.

BibTeX EndNote Reference Manager XML