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Boletim de Ciências Geodésicas

versão impressa ISSN 1413-4853versão On-line ISSN 1982-2170

Resumo

PAVAN, Nadisson Luis  e  SANTOS, Daniel Rodrigues dos. An automatic method for registration of terrestrial laser scanning data using planar surfaces. Bol. Ciênc. Geod. [online]. 2015, vol.21, n.3, pp.572-589. ISSN 1413-4853.  http://dx.doi.org/10.1590/S1982-21702015000300032.

In this work, an automatic method for registration of terrestrial laser scanning data using planar surfaces is presented. Firstly, planar surfaces are detected using the RANSAC algorithm and their normal vectors are adjusted by the Total Least Squares method. After, an automatic algorithm to establish correspondences using the normal vectors and geometric planar analysis is proposed. Finally, the transformation parameters are determined using a plane-to-plane based model. The proposed algorithm solves the transformation parameters without the initial estimates and it applies quaternions to describe spatial rotations, making it faster and better than conventional approaches. Experiment was conducted to verify the feasibility and the effectiveness of the proposed method. The obtained results showed that this approach is promising and can computed positions despite measure errors of a few centimeters

Palavras-chave : Pairwise registration of 3D point clouds; Terrestrial laser scanning; Quaternions; matching plane-to-plane.

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