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Appl. Sci. 2018, 8(11), 2318; https://doi.org/10.3390/app8112318

LIDAR Point Cloud Registration for Sensing and Reconstruction of Unstructured Terrain

1
Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361005, China
2
School of Computer Science & Electronic Engineering, University of Essex, Colchester CO4 3SQ, UK
*
Author to whom correspondence should be addressed.
Received: 21 October 2018 / Revised: 14 November 2018 / Accepted: 18 November 2018 / Published: 21 November 2018
(This article belongs to the Special Issue LiDAR and Time-of-flight Imaging)
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Abstract

When 3D laser scanning (LIDAR) is used for navigation of autonomous vehicles operated on unstructured terrain, it is necessary to register the acquired point cloud and accurately perform point cloud reconstruction of the terrain in time. This paper proposes a novel registration method to deal with uneven-density and high-noise of unstructured terrain point clouds. It has two steps of operation, namely initial registration and accurate registration. Multisensor data is firstly used for initial registration. An improved Iterative Closest Point (ICP) algorithm is then deployed for accurate registration. This algorithm extracts key points and builds feature descriptors based on the neighborhood normal vector, point cloud density and curvature. An adaptive threshold is introduced to accelerate iterative convergence. Experimental results are given to show that our two-step registration method can effectively solve the uneven-density and high-noise problem in registration of unstructured terrain point clouds, thereby improving the accuracy of terrain point cloud reconstruction. View Full-Text
Keywords: LIDAR; point clouds; unstructured terrain; registration; improved ICP algorithm LIDAR; point clouds; unstructured terrain; registration; improved ICP algorithm
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Zhu, Q.; Wu, J.; Hu, H.; Xiao, C.; Chen, W. LIDAR Point Cloud Registration for Sensing and Reconstruction of Unstructured Terrain. Appl. Sci. 2018, 8, 2318.

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