An automatic 3D registration method for rock mass point clouds based on plane detection and polygon matching

  • Liang Hu
  • Jun XiaoEmail author
  • Ying Wang
Original Article


Point cloud registration is an essential step in the process of 3D reconstruction. Considering that the surface of rock mass is complex and mainly composed of planes, in this paper, we introduce a novel and automatic 3D registration method for rock mass point clouds based on plane detection and polygon matching. Firstly, planes are detected from rock mass point clouds by an efficient tripe-region growing method, and then, the corresponding polygons are calculated by concave hull method. Secondly, PCA-based polygon matching procedure is used for coarse registration. Finally, ICP method is applied to fine registration. The performance of this method was tested in different rock mass point clouds. Compared with the existing methods, the proposed method demonstrates a reliable and stable solution for accurately registering in rock mass scenes.


Automatic registration Rock mass Plane detection Polygon matching 



This work is supported by the National Natural Science Foundation of China (No. 61471338), Youth Innovation Promotion Association CAS (2015361), Key Research Program of Frontier Sciences CAS (QYZDY-SSW-SYS004), Beijing Nova Program (Z171100001117048), Beijing Science and Technology Project (Z181100003818019) and President Fund of UCAS.

Compliance with ethical standards

Conflict of interest

The authors certify that there is no conflict of interest with any organization for the present work.


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.University of Chinese Academy of ScienceBeijingChina

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