A novel approach to automatic registration of point clouds

For the 3D reconstruction inside historic buildings, we need a marker-free automatic registration approach to align different views together, because GPS does not work indoors and markers are not allowed to paste on the walls. This paper presents an automatic matching process, which employs a novel algorithm, Dynamic Matching Tree technique, for a fast and stable coarse-matching to achieve the automatic pre-alignment of two point clouds and uses modified ICP to do a fine matching efficiently. The whole process can be divided in the following stages: preprocessing, 2-View matching and N-View matching. To validate our method, various experiments has been done on reconstruction of historic sites and industrial objects.