Automatic Registration of TLS-TLS and TLS-MLS Point Clouds Using a Genetic Algorithm
AbstractRegistration of point clouds is a fundamental issue in Light Detection and Ranging (LiDAR) remote sensing because point clouds scanned from multiple scan stations or by different platforms need to be transformed to a uniform coordinate reference frame. This paper proposes an efficient registration method based on genetic algorithm (GA) for automatic alignment of two terrestrial LiDAR scanning (TLS) point clouds (TLS-TLS point clouds) and alignment between TLS and mobile LiDAR scanning (MLS) point clouds (TLS-MLS point clouds). The scanning station position acquired by the TLS built-in GPS and the quasi-horizontal orientation of the LiDAR sensor in data acquisition are used as constraints to narrow the search space in GA. A new fitness function to evaluate the solutions for GA, named as Normalized Sum of Matching Scores, is proposed for accurate registration. Our method is divided into five steps: selection of matching points, initialization of population, transformation of matching points, calculation of fitness values, and genetic operation. The method is verified using a TLS-TLS data set and a TLS-MLS data set. The experimental results indicate that the RMSE of registration of TLS-TLS point clouds is 3~5 mm, and that of TLS-MLS point clouds is 2~4 cm. The registration integrating the existing well-known ICP with GA is further proposed to accelerate the optimization and its optimizing time decreases by about 50%. View Full-Text
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Yan, L.; Tan, J.; Liu, H.; Xie, H.; Chen, C. Automatic Registration of TLS-TLS and TLS-MLS Point Clouds Using a Genetic Algorithm. Sensors 2017, 17, 1979.
Yan L, Tan J, Liu H, Xie H, Chen C. Automatic Registration of TLS-TLS and TLS-MLS Point Clouds Using a Genetic Algorithm. Sensors. 2017; 17(9):1979.Chicago/Turabian Style
Yan, Li; Tan, Junxiang; Liu, Hua; Xie, Hong; Chen, Changjun. 2017. "Automatic Registration of TLS-TLS and TLS-MLS Point Clouds Using a Genetic Algorithm." Sensors 17, no. 9: 1979.
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