Ground-based Multi-platform Point Clouds Registration

Laser scanning system provides an efficient solution to rapidly acquire 3D information of large-scale scenes. Point clouds collected by laser scanning systems contain numerous objects with significant disparities in size, complicated and incomplete structures, holes, varied point densities, and huge data volumes, raising great challenges for automated point clouds registration, segmentation, and object detection. The dissertation presents a hierarchical merging based multi-platform point clouds registration algorithm to align MLS point clouds and unordered TLS point clouds from various scenes and validates its performance on nine challenging datasets. The algorithm improves the efficiency and accuracy of point cloud registration and enhances the registration ability of the algorithm for low-overlap and high-symmetry point clouds.