A ridgeline-based terrain co-registration for satellite lidar point clouds in rough areas

Abstract

It is still a completely new and challenging task to register extensive, enormous and sparse satellite light detection and ranging (LiDAR) point clouds. Aimed at this problem, this study provides a ridgeline-based terrain co-registration method in preparation for satellite LiDAR point clouds in rough areas. This method has several merits: (1) only ridgelines are extracted as neighbor information for feature description and their intersections are extracted as keypoints, which can greatly reduce the number of points for subsequent processing, and extracted keypoints is of high repeatability and distinctiveness; (2) a new local-reference frame (LRF) construction method is designed by combining both three dimensional (3D) coordinate and normal vector covariance matrices, which effectively improves its direction consistency; (3) a minimum cost-maximum flow (MCMF) graph-matching strategy is adopted to maximize similarity sum in a sparse-matching graph. It can avoid the problem of "many-to-many" and "one to many" caused by traditional matching strategies; (4) a transformation matrix-based clustering is adopted with a least square (LS)-based registration, where mismatches are eliminated and correct pairs are fully participated in optimal parameters evaluation to improve its stability. Experiments on simulated satellite LiDAR point clouds show that this method can effectively remove mismatches and estimate optimal parameters with high accuracy, especially in rough areas.