Registration of Stereo Images with Point Clouds Using Plücker Line

The existing registration methods of point clouds with stereo images based on line features provide a weak constraint because the geometric topology of lines is not taken into full account. A registration method based on Plücker line was proposed to strengthen the geometric constraints of lines. First, conjugate lines of point clouds and stereo images were represented in Plücker coordinates. The Plücker lines in stereo images composed the conjugate planes with respective photography center. Through the serial spiral motion of conjugate planes, they intersected at the position of the control line, so the whole region was optimally transformed into the coordinate of the control line, and the coplanar condition equation based on Plücker line was established. The proposed model is compact and clear with obvious geometric meaning and strong geometric constraint. The experimental results show that the proposed model solves the position and attitude parameters simultaneously with high precision.