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《Science of Surveying and Mapping》 2015-06
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Research on registration method of subway tunnel 3D laser scanner data

XIE Qiu-ping;YU Hai-yang;YU Peng-lei;LU Xiao-ping;LI Cheng;Key Laboratory of Mine Spatial Information Technologies of NASG,Henan Polytechnic University,Jiaozuo 454000,China;School of Surveying and Land Information Engineering,Henan Polytechnic University;Key Laboratory of Mine Spatial Information Technologies of NASG,Henan Polytechnic University;  
For the computational efficiency of traditional Iterative Closest Point(ICP)algorithm used in the registration of the two adjacent stations was low,this paper proposed an improved ICP algorithm based on feature points,which used the two adjacent station data to realize the registration:first voxel grid method was used to streamline the two point cloud data sets,the normal vector of the points was calculated after streamlined,and then the corresponding relationship of feature points was searched by using kd-tree nearest neighbor query and optimal transformation matrix was estimated to update the global transformation.The experiment result showed that the efficiency and precision of the improved ICP algorithm was higher than other algorithms in the registration of tunnel point clouds data,which could provide guarantee for the tunnel deformation monitoring.
【Fund】: 国家自然科学基金资助项目(U1304402);; 卫星测绘技术与应用国家测绘地理信息局重点实验室资助项目(KLAMTA-201405);; 河南省高校科技创新团队支持计划资助项目(14IRTSTHNO26)
【CateGory Index】: TP391.41
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