Fast automatic registration of range images from 3D imaging systems using sphere targets

摘要: Abstract The use of 3D imaging systems (e.g., laser scanners) in construction has grown significantly the past decade. Range images acquired with such often require registration. This paper describes an automatic method to rapidly locate spheres and perform a registration based on three pairs matching points (centers fitted spheres) two range images. proposed is directly applicable for regularly gridded datasets obtained instruments that are typically used applications whose maximum ranges greater than 50 m. A lab was scanned from locations at different scan densities. Four were located lab, total number hitting four small fraction ( 6 3.4 × 10 less 30 s. At medium density, 1.6 × 10 0.8 × 10 can be registered 2 s.