| Abstract |
The terrestrial laser scanner (TLS) is an instrument which can directly
acquire very accurate and dense 3D point clouds in a very short time. These
instruments are used frequently in cultural heritage documentation, 3D
modelling and acquiring 3D data. The instrument’s data is point-cloud which
has local cartesian coordinates. If too many scanning is required for 3D
modelling of one object, every scanning area must include overlapping
surface with the other adjacent scan. Registration of point clouds in the same
coordinate system is the most important step in processing terrestrial laser
scanner measurements. While the acquisition and filtering of the recorded
points are well known procedures, the fully automatic target-less registration
of terrestrial laser scanning point-clouds of adjacent scans is still a not
completely investigated field as it involves handling huge datasets, irregular
point distribution, multiple views, and relatively low textured surfaces.
Different methods used in multi-scan registration of LiDAR data are shown
with the evaluation of the automatic targetless registration results of some of
them. Prior to that, the effect of various parameters on the TLS
measurements and the registration results was examined. Results of the used
registration methods (ICP and CPD) are compared together as well as results
of two commercial soft-wares. Experiments showed that the ICP method
produced better results.
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