Based On Three-dimensional Laser Scanner Point Cloud Registration

With the rapid development of modern information technology and the expanding applications of computer graphics, how to quickly and accurately digitalize 3D entities in real world has become an urgent issue. The 3D laser scanner provides a new technology to deal with this problem, whicn can acquire pointclouds of complex object surface fast and precisely without contact and then completes the 3D reconstruction of entities. Because of its own feature, pointclouds must be acquired from several positions to complete point cloud model. So the registration of multi-view point clouds has become a key technology of 3D reconstrution based on 3D scanning,which has great effect to the precision of model reconstruction.The above-mentioned issue is studied in this paper,and the main contributions are as follows:(1) With the equipment of the laboratory, a flow of data acquiration base on registration via tiepoints is proposed and the pointclouds are registered. The advantages and disadvantages of registration via tiepoints are analysed.The importance of the research of pointcloud registration algorithm is emphasized.(2) The data organization structure and saved parameters of Riscan Pro are analyzed. The importance of Riscan Pro parameter analysis to the point cloud registration and 3D reconstruction is clarified. As the project file of Riscan Pro is a XML file conforming to W3C the standard, this paper summarized XML document grammar foundations.And analyzed Riscan Pro file and acquired parameters with the technology of SAX.(3) The advantages and disadvantages of ICP algorithm are analyzed. The improved ICP algorithm of neighbor searching multi-resolution is proposed and a registration flow based on Riscan Pro are also proposed.The algorithms are all implemented under the platform of VC++ and carried on the experiment to the algorithm with datas acquired by 3D laser scanner. The validity is also confirmed.