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Sensors 2017, 17(1), 197; doi:10.3390/s17010197

Entropy-Based Registration of Point Clouds Using Terrestrial Laser Scanning and Smartphone GPS

1
School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China
2
Jiangsu Hi-Target Marine Technology Co., Ltd., Nanjin 210032, China
3
School of Resources and Environment, North China University of Water Resources and Electric Power, Zhengzhou 450046, China
*
Author to whom correspondence should be addressed.
Academic Editor: Ayman F. Habib
Received: 22 November 2016 / Revised: 12 January 2017 / Accepted: 16 January 2017 / Published: 20 January 2017
(This article belongs to the Section Remote Sensors)
View Full-Text   |   Download PDF [9399 KB, uploaded 20 January 2017]   |  

Abstract

Automatic registration of terrestrial laser scanning point clouds is a crucial but unresolved topic that is of great interest in many domains. This study combines terrestrial laser scanner with a smartphone for the coarse registration of leveled point clouds with small roll and pitch angles and height differences, which is a novel sensor combination mode for terrestrial laser scanning. The approximate distance between two neighboring scan positions is firstly calculated with smartphone GPS coordinates. Then, 2D distribution entropy is used to measure the distribution coherence between the two scans and search for the optimal initial transformation parameters. To this end, we propose a method called Iterative Minimum Entropy (IME) to correct initial transformation parameters based on two criteria: the difference between the average and minimum entropy and the deviation from the minimum entropy to the expected entropy. Finally, the presented method is evaluated using two data sets that contain tens of millions of points from panoramic and non-panoramic, vegetation-dominated and building-dominated cases and can achieve high accuracy and efficiency. View Full-Text
Keywords: terrestrial laser scanning; registration; sensor combination; point cloud; information entropy terrestrial laser scanning; registration; sensor combination; point cloud; information entropy
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Chen, M.; Wang, S.; Wang, M.; Wan, Y.; He, P. Entropy-Based Registration of Point Clouds Using Terrestrial Laser Scanning and Smartphone GPS. Sensors 2017, 17, 197.

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