摘要： 为对激光扫描仪与数码相机中的数据进行有效配准，提出一种基于中心投影的多幅点云数据与纹理序列自动配准方法。对多幅局部点云数据进行预处理操作，实现多幅局部点云数据配准，形成一幅完整的点云数据。采用中心投影方法将点云数据生成强度图像，通过特征匹配得到纹理影像与强度图像间的匹配关系，利用RANSAC算法进行匹配关系优化，确定每个纹理影像与强度图像间的变换关系。在此基础上，对纹理影像序列进行融合预处理，利用共线方程实现多幅点云数据与多张纹理影像的配准，获得带有RGB颜色的点云数据。实验结果表明，该方法能够降低2种异源数据的差异性，可以在实现较好配准效果的同时提高执行效率。

关键词: 点云数据, 纹理影像, 纹理序列, 强度图像, 配准, 中心投影

Abstract: In order to effectively register the data in laser scanner and digital camera,this paper proposes an automatic registration method for multiple point cloud data and texture sequences based on central projection.The method registers pre-processed multiple local point cloud data to form complete point cloud data,which is later used to generate intensity images by using central projection.Then the matching relationships between the texture images and intensity images are obtained by feature matching and optimized by the RANSAC algorithm, so as to determine the transformation relationship between each texture image and the corresponding intensity image.On this basis,the texture image sequence is pre-processed by fusion,and the registration between multiple point cloud data and multiple texture images is implemented by using collinear equation to form the final point cloud data with RGB colors.Experimental results show that the proposed method can reduce the difference between two kinds of heterogeneous data,and achieve better registration performance with improved execution efficiency.

Key words: point cloud data, texture image, texture sequence, intensity image, registration, central projection

中图分类号: 

• TP391