Point cloud registration method with layer-by-layer filtering of matching points

doi:10.7523/j.ucas.2020.0020

Abstract

Abstract: Point cloud registration of rock mass is the basis of rock mass engineering. Although the classic point cloud registration method can be well applied to ordinary point clouds, it can not be used for rock point cloud registration. Due to the complex surface structure of the point cloud of the rock mass, most of the area is flat, based on the characteristics of point cloud of rock mass, this paper proposes a rock mass point cloud registration algorithm that filters matching points layer by layer through geometric features, by introducing the eigenvalues and eigenvector matrices of the covariance matrix of matching point pairs, and geometric features such as curvature and principal direction, the matching point pairs can be accurately found. The experimental test and analysis results on different rock mass point clouds show that the algorithm in this paper has obvious advantages in accuracy.

Key words: point cloud of rock mass, registration, geometric features, Gaussian curvature

CLC Number:

TP391.41

ZHANG Tao, XIAO Jun, WANG Ying. Point cloud registration method with layer-by-layer filtering of matching points[J]. Journal of University of Chinese Academy of Sciences, 2022, 39(3): 352-359.

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