A Novel Rock-Mass Point Cloud Registration Method Based on Feature Line Extraction and Feature Point Matching

Registration will directly affect the quality of overall rock-mass point cloud, which is the basis of 3-D reconstruction for rock mass. Advanced methods establish correspondence by extracting various features that remain unchanged. Although these methods have made great progress, they analyze the local characteristics of each sample point, which leads to be inefficient. In this article, we select registration interesting points from feature lines that were extracted based on supervoxel and innovatively introduce the ``clustering, primary matching, and coarse registration'' strategy, which effectively reduces the complexity of calculating the corresponding relationship during point cloud registration. Finally, the iterative closest point (ICP) algorithm is used to optimize the result of coarse registration. By selecting registration interesting points from the extracted feature lines, the proposed method inherits the robustness of feature lines to noise, initial position, and so on. The experimental results prove that the coarse registration and refined registration results of the proposed method both have high accuracy and efficiency.