Abstract: In point clouds fitting of terrestrial laser scanner,the data observed with unequal and the accuracy is affected greatly by gross error.In order to overcome this shortcoming,a robust weighted total least squares method based on the theory of incidence angle weighting is adopted in this paper,and an incidence angle cosine formula to spherical point cloud is deduced.So as to get the coefficient and inspection,this method uses the theory of incident angle to determine weights and utilizes the standardized residuals to construct the weight factor function,and the square root of the variance component estimator with robustness is obtained by the median method.There use experiments based on the simulation and measured data of plane fitting and the sphere fitting as example to verification algorithm,the experiment indicates that the robust WTLS(RWTLS) method exhibits satisfactory robustness,the accuracy of the obtained parameters is high,it is superior to the robust total least squares and weighted total least squares method.It has perfect performance on point clouds of terrestrial laser scanner.

Key words: terrestrial laser scanning, point clouds, weighted total least squares, robust estimation, incidence angle, weighing