Terrestrial laser scanning (TLS) is an important part of urban reconstruction and terrain
surveying. In TLS applications, 4-point congruent set (4PCS) technology is widely used for
the global registration of point clouds. However, TLS point clouds usually enjoy enormous
data and uneven density. Obtaining the congruent set of tuples in a large point cloud scene
can be challenging. To address this concern, we propose a registration method based on
the voxel grid of the point cloud in this paper. First, we establish a voxel grid structure and …

Voxel Grid based Fast Registration of Terrestrial Point Cloud[v1] | Preprints.org …