A registration method for indoor scenes point cloud based on place recognition

doi:10.13474/j.cnki.11-2246.2023.0120

Abstract

Abstract: The existing solutions have low robustness for registration between low overlap point clouds in indoor scenes. In this paper, a robust place recognition based registration algorithm is proposed. Virtual scans are generated based on the result of disjoint spaces. Global feature descriptors are extracted from virtual scans subsequently.Then the overlap area can be determined using place recognition. At last, the transformation can be obtained accurately by aligning the point cloud of overlap area. The experiments show that the proposed solution estimate accurately the transformation parameter for low overlap indoor point clouds.

Key words: registration, place recognition, global feature descriptor, virtual LiDAR

CLC Number:

P237

NIU Xuechao. A registration method for indoor scenes point cloud based on place recognition[J]. Bulletin of Surveying and Mapping, 2023, 0(4): 150-153,158.

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