一种新的针对中国古建筑室内三维激光扫描数据的配准方法

针对中国古建筑结构复杂、室内占建筑激光扫描数据量大、视点多、不易采用现有的配准方法等问题，提出基于古建筑按中轴线对称等几何结构特征的古建筑室内激光扫描数据配准方法，同时首次提出广义同名点的概念。建立测站坐标系、建筑坐标系和测站辅助坐标系，井详细介绍从测站直角坐标系转换测站辅助坐标系的方法，同时给出具体的坐标转换关系式。该配准方法分两步进行：第一步，将各视点扫描数据从测站直角坐标系转换到各自的测站辅助坐标系；第二步，选定一测站辅助坐标系为参考坐标系，之后利用广义同名点求得辅助坐标系之间的三维平移向量，最终实现配准。该方法不需初始位姿，计算量小，不易受噪声影响，实验结果验证了这种配准方法的快速、高效性。

A new registration method aiming at 3D laser scanning data of inner old China architecture

This paper presents a new registration method aiming at 3D laser scanning data of inner old China architecture based on the characteristics of geometry structure of old architecture such as symmetry by middle axes,in order to solve the question that common registration methods are not well applied because of large volume data,multi-viewpoints and complicated structure of old architecture.The concept of generalized matching point is put forward.After building viewpoint coordinate system(VCS),architecture coordinate system(ACS) and viewpoint assistant coordinate system(VACS),the paper introduces how to transform from VCS to VACS,and gives the rigorous coordinate transformation relationship equations.During the process of registration,every viewpoint scanning data are first transformed from VCS to VACS,and then a VCS selected is taken as reference coordinate system,and then generalized matching points are utilized to compute the 3D transformation vector.Thus registration is finished.This method with fast computing speeding does not need initial pose estimation,and is less affected by noise.Experiment results show its reliability and robustness.