【摘要】 靶球被广泛应用于地面三维激光扫描点云配准拼接任务。为了探究现有靶球鲁棒拟合方法在点云退化条件下的适用性，使用多种鲁棒拟合方法，在不同距离(10～120 m)、不同球面完整度(10%～50%)条件下，对两种规格的靶球点云进行测试，以多次测量的平均靶球半径、球面拟合精度、球心内符合距离为指标，对鲁棒拟合方法效果进行评估。结果表明，入射角定权的方案对大半径靶球拟合效果好；距离定权的方案对小半径靶球拟合效果好，距离定权的选权迭代方案在70 m内可将拟合误差控制在毫米级；40%～50%完整度的靶球能用于70 m范围内的高精度配准任务，30%～40%完整度的靶球仅用于50 m内的配准任务，低于20%完整度的靶球无法使用。多站电力基础设施点云配准结果进一步证明了相关结论。更多还原

【Abstract】 Spherical targets are used commonly for point cloud registrations collected by terrestrial laser scanning.To research the applicability of existing methods for robust spherical targets fitting under degradation conditions, four targets with two radii are used to test multiple robust fitting methods at different distances(10～120 m)and integrities(10%～50%).The average radius, spherical fitting accuracy, and distances between fitted center are used as indicators to evaluate the effectiveness of robust fitting methods.The results show that the methods based on angle weighting has the best effect on the larger spherical target, while the method with distance weighting has better effect on the smaller.IGGⅢ method with distance weighting controls the fitting errors under centimeter level in the range of 70 m.Spherical targets with a completeness of 40%～50% can be used for high-precision registration within a range of 70 m, while 50 m for completeness of 30%～40%.The targets with completeness below 20% cannot be used.The registration result of power infrastructure with 4 directions of views further confirms the above conclusion.更多还原