Robust Algorithm for Registration of Building Point Clouds Using Planar Patches

This paper presents a robust algorithm for the registration of building point clouds based on the planar features when there are no targets in the scanning process. First, obtaining the normal vectors of the planes that are fitted from the segmented point clouds in the overlapping areas is absolutely necessary to generate completed three-dimensional models. Then a mathematical model of registration can be established by using the character of the Rodriguez Matrix. Furthermore, the registration accuracy is analyzed and compared with the Iterative Closest Point (ICP) algorithm, and the results show that the algorithm is effective, and can get a satisfactory registration result.

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