3-D FEATURE-BASED MATCHING by RSTG APPROACH

3-D feature matching is the essential kernel in a fully automated feature-based LiDAR point cloud registration. After feasible procedures of feature acquisition, connecting corresponding features in different data frames is imperative to be solved. The objective addressed in this paper is developing an approach coined RSTG to retrieve corresponding counterparts of unsorted multiple 3-D features extracted from sets of LiDAR point clouds. RSTG stands for the four major processes, "Rotation alignment"; "Scale estimation"; "Translation alignment" and "Geometric check," strategically formulated towards finding out matching solution with high efficiency and leading to accomplishing the 3-D similarity transformation among all sets. The workable types of features to RSTG comprise points, lines, planes and clustered point groups. Each type of features can be employed exclusively or combined with others, if sufficiently supplied, throughout the matching scheme. The paper gives a detailed description of the matching methodology and discusses on the matching effects based on the statistical assessment which revealed that the RSTG approach reached an average matching rate of success up to 93% with around 6.6% of statistical type 1 error. Notably, statistical type 2 error, the critical indicator of matching reliability, was kept 0% throughout all the experiments.