Research On Registration Of Ground Lidar Range Images

With the development of Lidar hardware technology, ground Laser scanner could reach an effective range over 1 km, which could meet the acquirement of the traditional surveying. It also extends the Lidar technology to deformation, cultural relic protection and rebuild of 3-dimensional city etc. In these new applications, more range data is scanned, larger area is covered, higher accuracy is required and thus it is hard for the traditional registration method to meet the accuracy requirements. It has become a problem to make an urgent precise registration of multi range images in large area.In general registration, neighbor range images are matched one by one, which brings a cumulate error in multi range images registration of large area. To solve the problem, an integrate registration method is put forward in the dissertation, in which all the range images are matched and made spatial transformation to a reference coordinate once. The cumulate error is avoided in this method.In the dissertation, systematic instruction on the theory and algorithm of registration is given. A research on integrate registration is made and the algorithm of registration is programmed. Finally range images are matched by program and a compare is made between the integrate registration and pairwise registration. It is proved that the integrate registration could eliminate the cumulate error effectively and improve the assurance of registration. In the program, the coarse error is eliminated with an error analysis, which makes the program more robust.