输电通道机载激光点云多级配准研究

机载LiDAR在输电通道变化检测应用中的关键是多时相点云的高效高精度配准，实验将PCA主轴变换与改进ICP算法相结合提出一种多级配准方法。首先基于输电通道杆塔不易形变的特点，采用PCA算法计算对应杆塔点云的3个主轴向量，通过校正主轴方向得到两组杆塔点云的粗略位姿变换关系，然后利用改进搜索和收敛策略的ICP方法实现精配准，最后将变换参数应用于全局完成多期点云的精配准。实验表明，该方法在效率和精度方面都得到较大提升，配准前后的平均点位误差可以减小约94%。

A Multi-level Registration Method of Transmission Corridor from Airborne LiDAR Point Cloud

Time series point clouds registration of transmission corridor area is an important task and problem in airborne LiDAR inspection application. This paper presents a multi-level registration method combining PCA transformation and improved ICP algorithm according to the key elements of transmission corridor. It is based on the characteristics that the power towers are not easy to deform. Firstly， PCA algorithm is used to calculate the three principle axis vectors of the corresponding power tower point cloud. By correcting the direction of the main axis， the approximate pose transformation of two power towers point clouds can be obtained. After the coarse registration， the ICP method with improved search and convergence strategies is used to achieve fine registration. Finally， the transformation parameters are applied to the total registration to achieve fast and accurate registration of the transmission corridor point cloud. The experiment shows that the processing efficiency is improved and the average point-to-point spacing distance is reduced by more than 94% after registration， which meets the demands of subsequent applications and has practical application significance.