Three-dimensional point cloud indoor reconstruction based on plane calibration for smart city.

The 3D reconstruction technology based on point cloud can accurately present various elements and facilities in the environment in the digital city model, and realize the visual management and operation of smart city.In this paper, a monochromatic rhomboid calibration object is proposed to reconstruct the 3D point cloud scene. Firstly, the comprehensive environmental point cloud information is obtained by rotating scanning. Then the point cloud of the calibration object is extracted based on the threshold segmentation of coordinate axes and Random Sample Consensus (RANSAC) algorithm. In order to accurately extract the feature points of the calibration object, the point clouds scanned by different laser beam were clustered, and then the boundary points were calculated to generate the scene feature points. Finally, Iterative Closest Point (ICP) algorithm was used to register feature points of different scenes to obtain the inter-frame transformation matrix, so as to complete the high-precision point cloud scene reconstruction and realize the high-precision digital presentation of the real world scene.