Global registration method for multi-station point clouds based on the bündle adjustment method

In the extraction of parallelism and warping data for large-scale, high-density ice-making pipes, issues such as low detection accuracy and incomplete data coverage are prevalent. This paper proposes a method based on bündle adjustment for regional networks, utilizing a 3D laser acquisition approach with multi-prism target spheres. The target sphere centers are ex-tracted using a radius-constrained random sample consensus (RANSAC) sphere fitting method. By applying coordinate trans-formations between the absolute coordinates of the Station point cloud origins, the relative coordinates of the target centers, and the absolute coordinates of the target centers, a global Solution for the positions and orientations of all stations is achieved using bündle adjustment. The method was validated using scan data from the National Speed Skating Oval. The results show that after point cloud matching, the internal consistency accuracy is 2. 6 mm, and the external consistency accuracy is 1. 9 mm, demonstrating higher acquisition accuracy compared to existing methods. © 2024 SinoMaps Press. All rights reserved.