A Method for Turning a Single Low-Cost Cube into a Reference Target for Point Cloud Registration

Target-based point cloud registration methods are still widely used by many laser scanning professionals due to their direct and manipulable nature. However, placing moving multiple targets such as spheres for is a time-consuming tactical process. When the number of scans gets large, time labor costs will accumulate high level. In this paper, we propose flexible method that requires installation only low-cost cubical target: die-like object. The includes virtual coordinate system construction two error compensation techniques, in which non-orthogonality scanned facets, along with unknown sizes dice estimated based on projection geometry constraints so three pairs conjugate points can be accurately identified axes constructed systems registration. No scan overlap facet needed. Two different (with volume 0.125 m3 0.027 m3) were verifying proposed method, shows delivers accuracy an RMSE discrepancy less than 0.5 mm check planes) comparable traditional sphere- using four six spherical spanning scene. Therefore, particularly useful registering clouds harsh environments limited target-setting space chances target interruption.