CN114565651A - A system and method for underground space station type three-dimensional laser scanning point cloud registration - Google Patents

Abstract

The application relates to a system and a method for registering underground space station-measuring type three-dimensional laser scanning point clouds, belonging to the technical field of registering of the station-measuring type three-dimensional laser scanning point clouds. The application includes: the data acquisition module is used for acquiring the three-dimensional coordinates of one end point of the first base line and the azimuth angle from the one end point of the first base line to the other end point vector; the point cloud acquisition module is used for acquiring point cloud data of the underground space; the registration module is used for calculating the coordinates of the two end points of the second base line according to the data acquired by the data acquisition module and performing registration calculation on the scanning point cloud of the underground space according to the coordinates of the two end points of the second base line in the point cloud data; the aim of registering underground claustrous space scanning point cloud is achieved through the design.

Description

A system and method for underground space station type three-dimensional laser scanning point cloud registration

technical field

The present application belongs to the technical field of station-type three-dimensional laser scanning point cloud registration, and in particular relates to a system and method for station-type three-dimensional laser scanning point cloud registration in underground space.

Background technique

The registration of the station-type 3D laser scanning point cloud generally adopts the extraction of multiple feature points with known coordinates from the single-scan point cloud of the station, and then uses the point cloud registration software to perform the registration calculation. The coordinates of these feature points can be measured by conventional surveying means (total station or GPS RTK).

When using 3D laser scanners to scan underground spaces, especially underground claustrophobic spaces, conventional surveying and mapping methods are often not well-suited or even unsuitable for the measurement of point cloud feature points in underground spaces. In order to realize the registration of the scanning point cloud in the underground space, it is necessary to add a ground station directly above the ground wellhead in the underground space, so that a certain overlapping area is formed between the scanning point cloud of the ground station and the scanning point cloud of the underground space. The cloud is covered, and then the point cloud of the above-ground station and the point cloud of the underground station are fused and spliced, and the registration of the underground space point cloud is realized by the registration of the cloud of the ground station.

Although the above method can realize the registration of the scanning point cloud in the underground space, since each underground station needs to add a ground scan, the efficiency is relatively low, and one-stop fast operation cannot be realized. Moreover, when the underground space is far from the surface wellhead, the overlapping part between the partial point cloud of the underground space scanned from above the wellhead during the ground scanning and the point cloud of the same area during the underground scanning may be very sparse or even not overlapped, which is difficult to carry out. High-quality point cloud splicing and fusion makes the reliability and effect of this method more uncertain.

SUMMARY OF THE INVENTION

To this end, the present application provides a system and method for underground space station type three-dimensional laser scanning point cloud registration. In the present application, the coordinates of one end of the first baseline and the vector orientation from one end to the other end of the first baseline are determined. Angle, calculate the coordinates of the two ends of the second baseline, and register the underground space point cloud data through the coordinates of the two ends of the second baseline. In this way, there is no limit to the length of the first baseline and the length of the second baseline, that is, The accuracy of point cloud registration is not limited by the length of the point cloud directional target, and the longer the first baseline, the higher the accuracy of the azimuth angle, and the higher the accuracy of the final point cloud registration, which solves the problem of the point cloud in the prior art. The registration is limited by the length of the first baseline and the second baseline, resulting in a problem that the registration accuracy is not high enough.

To achieve the above purpose, the application adopts the following technical solutions:

An underground space station type three-dimensional laser scanning point cloud registration system, the system includes:

a data acquisition module for acquiring the three-dimensional coordinates of an endpoint of the first baseline, and the azimuth angle from an endpoint of the first baseline to another endpoint vector;

The point cloud acquisition module is used to acquire the point cloud data of the underground space;

The registration module is configured to calculate the coordinates of the two ends of the second baseline according to the data obtained by the data acquisition module, and perform the registration calculation on the scanning point cloud of the underground space according to the coordinates of the two ends of the second baseline in the point cloud data.

Further, the first baseline is arranged on the top of the lifting center of the inverted tripod and is erected together right above the ground wellhead in the underground space, and the second baseline and the point cloud acquisition module are arranged at the bottom of the vertical axis of the inverted tripod. , the bottom of the inverted tripod is vertically lowered into the underground space through the wellhead on the ground.

Further, the first baseline and the second baseline are parallel to each other, the first baseline has an intersection with the top of the vertical axis of the inverted tripod, the second baseline has an intersection with the bottom of the vertical axis of the inverted tripod, and The four end points of the first base line and the second base line are located in the same vertical plane.

Further, the data acquisition module adopts a GNSS dual-antenna orienter, a positioning antenna is set at one end of the first baseline, and a directional antenna is set at the other end of the first baseline, and the GNSS dual-antenna orienter is used for sending to the registration module. The three-dimensional coordinates of the locating antenna phase center and the azimuth angle of the locating antenna to the directional antenna vector.

A method for underground space station type laser scanning point cloud registration, the method comprising:

Obtain the coordinates of an endpoint of the first baseline and the azimuth angle of the vector from one endpoint of the first baseline to the other endpoint;

Calculate the coordinates of both ends of the second baseline according to the coordinates of one end point of the first baseline and the azimuth angle of the vector from one end point of the first baseline to the other end point;

Obtain the point cloud data of the underground space, and perform registration calculation on the scanning point cloud of the underground space according to the coordinates of the two ends of the second baseline in the point cloud data.

Further, according to the coordinates of an endpoint of the first baseline, the azimuth angle of the vector from one endpoint of the first baseline to the other endpoint, and the distance from the positioning antenna or the directional antenna to the intersection of the first baseline and the top of the vertical axis of the inverted tripod, calculate the first baseline. The coordinates of the intersection of the baseline and the top of the vertical axis of the inverted tripod are calculated according to the coordinates of the intersection of the first baseline and the top of the vertical axis of the inverted tripod, and the coordinates of the intersection of the second baseline and the bottom of the vertical axis of the inverted tripod are calculated; The coordinates of the two ends of the second baseline are calculated from the coordinates of the intersection point of the bottom of the vertical axis and the distance from the intersection of the second baseline and the bottom of the vertical axis of the inverted tripod to the two ends of the second baseline.

Further, a digital survey model is established according to the point cloud data, and an accurate digital survey model is obtained according to the registered underground space scanning point cloud.

A computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a computer or a processor, the method for registering a point cloud of an underground space station type three-dimensional laser scanning point cloud is realized .

This application adopts the above technical solutions, and at least has the following beneficial effects:

The present application obtains the coordinates of one endpoint of the first baseline and the azimuth angle of the vector from one end to the other end of the first baseline, and obtains the coordinates of the two endpoints of the second baseline through mathematical calculation. There is no limit to the length of the second baseline. The longer the first baseline, the higher the accuracy of the azimuth angle, that is, the higher the accuracy of the final point cloud registration, which realizes one-stop calculation of point cloud registration in underground space, and at the same time point cloud registration Accurate accuracy and higher efficiency.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a system diagram of an underground space station type three-dimensional laser scanning point cloud registration system according to an exemplary embodiment;

FIG. 2 is a flow chart of a method for 3D laser scanning point cloud registration of an underground space station type according to an exemplary embodiment;

3 is a schematic diagram illustrating the installation of a first baseline, a second baseline and an inverted tripod according to an exemplary embodiment;

In the drawings: 1-data acquisition module, 2-point cloud acquisition module, 3-registration module.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the examples in this application, all other implementations obtained by those of ordinary skill in the art without creative work fall within the scope of protection of this application.

Please refer to FIG. 1. FIG. 1 is a system diagram of an underground space station type laser scanning point cloud registration system according to an exemplary embodiment, and the point cloud registration system is applied to the technical field of underground space point cloud registration , the point cloud registration system includes:

Data acquisition module 1, for obtaining the three-dimensional coordinates of an end point of the first baseline, and an azimuth angle to another end point vector from an end point of the first baseline;

Point cloud acquisition module 2, used to acquire point cloud data of underground space;

The registration module 3 is used to calculate the coordinates of the two ends of the second baseline according to the data obtained by the data acquisition module, and perform registration calculation on the scanning point cloud of the underground space according to the coordinates of the two ends of the second baseline in the point cloud data;

Specifically, the three-dimensional coordinates of one end of the first baseline and the azimuth angle of the vector from one end to the other end of the first baseline are acquired through the data acquisition module 1, and the point cloud data of the underground space is acquired through the point cloud acquisition module 2. In this application, the point cloud acquisition Module 2 adopts a three-dimensional laser scanner, and registration module 3 calculates the coordinates of the two end points of the second baseline in the underground space according to the three-dimensional coordinates of one end of the first baseline and the orientation of the vector from one end of the first baseline to the other, and calculates the coordinates of the two endpoints of the second baseline in the underground space according to the point cloud of the underground space. The precise coordinates of the two endpoints of the second baseline in the data are used to register the underground space point cloud. In this process, there is no restriction on the length of the first baseline and the second baseline. Then, the longer the length of the first baseline, the The azimuth angle of the vector from one end point to the other end point is more accurate, and the final registration calculation result is correspondingly more accurate.

Further, the first baseline is arranged on the top of the lifting center of the inverted tripod and is erected together right above the ground wellhead in the underground space, and the second baseline and the point cloud acquisition module are arranged at the bottom of the vertical axis of the inverted tripod. , the bottom of the inverted tripod is vertically lowered into the underground space through the wellhead on the ground;

Specifically, as shown in FIG. 3 , the first baseline is set on the top of the lifting center axis of the inverted tripod, and the inverted tripod is leveled by adjusting the retractable legs of the inverted tripod. The second baseline consists of two The point cloud directional target is formed, which are respectively set at both ends of the second baseline. The three-dimensional laser scanner 2 is used to obtain the point cloud data of the underground claustrophobic space. It is also set at the bottom of the vertical axis of the inverted tripod. It is worth mentioning that Here is just a way of placing the 3D laser scanner 2. In fact, the position of the 3D laser scanner 2 has no effect on the present application, as long as the point cloud data of the underground claustrophobic space can be obtained.

Further, the first baseline and the top of the vertical axis of the inverted tripod have an intersection, the second baseline and the bottom of the vertical axis of the inverted tripod have an intersection, and the first baseline and the second baseline have four points of intersection. The endpoints are located in the same vertical plane;

Specifically, as shown in FIG. 3 , the first baseline and the second baseline are parallel to each other and are located in the same vertical plane, and there is an intersection point between the first baseline and the top of the vertical axis of the inverted tripod, and the intersection can be any point between the first baselines. One point, there is an intersection point between the second baseline and the bottom of the vertical axis of the inverted tripod, and the intersection can be any point of the second baseline. When the first baseline and the second baseline are installed on the inverted tripod, the first baseline and the The length of the second baseline, the distance from the positioning antenna to the intersection of the first baseline and the top of the vertical axis of the inverted tripod, the distance from the directional antenna to the intersection of the first baseline and the top of the vertical axis of the inverted tripod, and the two endpoints of the second baseline to the second The distance between the baseline and the bottom of the vertical axis of the inverted tripod. In the calculation method provided in this embodiment, the first baseline and the second baseline are located in the same vertical plane. In fact, even if the first baseline and the second baseline are not in the same In the vertical plane, in the calculation process, it is only necessary to measure the deviation angle between the first baseline and the second baseline. In the subsequent calculation process, the deviation angle can be applied to the calculation process of the endpoint of the second baseline, so as long as the The solution of mathematically calculating the coordinates of one end point of the first baseline and the azimuth angle of the vector from one end point to the other end point of the two end points of the second baseline should fall within the protection scope of the present application.

Further, the data acquisition module 1 adopts a GNSS dual-antenna orienter, a positioning antenna is set at one end of the first baseline, and a directional antenna is set at the other end of the first baseline, and the GNSS dual-antenna orienter is used for pointing the registration module. Send the three-dimensional coordinates of the phase center of the positioning antenna and the azimuth angle of the positioning antenna to the directional antenna vector;

Specifically, as shown in FIG. 3 , in this embodiment, a method for obtaining the coordinates of one end of the first baseline and the azimuth angle of the vector from one end to the other end of the first baseline is given, and the GNSS positioning antenna is set on the first baseline. A directional antenna is set at the other end of the first baseline, and the above-mentioned data can be obtained through the positioning antenna and the directional antenna. The GNSS dual-antenna directional instrument adopts the high-precision differential positioning solution mode of multi-satellite dual-frequency GNSS-RTK. , the longer the first baseline length between the GNSS dual antennas, the better the orientation accuracy of the dual antennas, and the orientation accuracy of the GNSS dual antenna directly determines the registration accuracy of the scanning point cloud in the underground space. It is worth emphasizing that this The GNSS dual-antenna acquisition coordinates and azimuth angle used in the embodiment are only to prove one of the best embodiments given by the solution of the present application. The solutions should all fall within the protection scope of this application.

2 is a flowchart of a method for underground space station type laser scanning point cloud registration provided by the present application. As shown in the figure, the method includes:

S1, obtain the coordinates of an endpoint of the first baseline and the azimuth angle of an endpoint of the first baseline to another endpoint vector;

S2, calculate the coordinates of the two ends of the second baseline according to the coordinates of an endpoint of the first baseline and the azimuth angle of an endpoint of the first baseline to another endpoint vector;

S3 , acquiring point cloud data of the underground space, and performing registration calculation on the scanning point cloud of the underground space according to the coordinates of the two ends of the second baseline in the point cloud data.

Further, according to the coordinates of an endpoint of the first baseline, the azimuth angle of the vector from one endpoint of the first baseline to the other endpoint, and the distance relationship between the positioning antenna or the directional antenna to the intersection of the first baseline and the top of the vertical axis of the inverted tripod, calculate the first baseline. A coordinate of the intersection of the baseline and the top of the vertical axis of the inverted tripod, according to the coordinates of the intersection of the first baseline and the top of the vertical axis of the inverted tripod, calculate the coordinates of the intersection of the second baseline and the bottom of the vertical axis of the inverted tripod; The coordinates of the two ends of the second baseline are calculated from the coordinates of the intersection point of the bottom of the tripod's vertical axis and the intersection of the second baseline and the bottom of the inverted tripod's vertical axis to the two ends of the second baseline respectively;

Specifically, the method for calculating the azimuth angle of the vector from one end of the first baseline to the other end of the first baseline is as follows in conjunction with FIG. 3 :

,方位角为θ，M至定位天线的距离L，M是定位天线和定向天线所构建的第一基线中的任意一点，且M为第一基线与倒置三脚架升降中轴顶部的交点；M至D点的距离H,D是第二基线与倒置三脚架升降中轴底部的交点，第二基线两端点分别为点云定向标靶

和点云定向标靶

，D为所构建的第二基线中的任意一点；确定点云定向标靶

至D点的距离

，点云定向标靶

至D点的距离

，所述L、H、

以及

，在安装第一基线以及第二基线在倒置三脚架上时可通过人工测量得知；Determining Positioning Antenna Coordinates

, the azimuth angle is θ, M is the distance L from the positioning antenna, M is any point in the first baseline constructed by the positioning antenna and the directional antenna, and M is the intersection of the first baseline and the top of the vertical axis of the inverted tripod; M to The distance H, D of point D is the intersection of the second baseline and the bottom of the vertical axis of the inverted tripod, and the two ends of the second baseline are the point cloud orientation targets.

and point cloud orientation target

, D is any point in the constructed second baseline; determine the point cloud orientation target

distance to point D

, point cloud orientation target

distance to point D

, the L, H,

as well as

, which can be obtained by manual measurement when the first baseline and the second baseline are installed on an inverted tripod;

Since M is any point in the first baseline constructed by the positioning antenna and the directional antenna, the azimuth angle from M to the directional antenna vector is equal to the azimuth angle θ from the positioning antenna to the directional antenna vector;

为

,So the three-dimensional coordinates of M

for

,

In order to obtain the high-precision coordinate results of the point cloud orientation target 1 for further details:

Since the line between D and M is the height difference H between the GNSS dual-antenna directional instrument and the point cloud directional target, the plane coordinates of the two points D and M are the same, and only the elevations are different, namely:

Since the directional baseline formed between the two antennas is parallel to the baseline formed by the point cloud directional target, the azimuth angle from the point cloud directional target P1 to the point cloud directional target P2 is equal to the azimuth angle from the positioning antenna to the directional antenna vector. theta.

的坐标分别为：Therefore, the point cloud orientation target P1 is obtained

The coordinates are:

which is:

的坐标为：Therefore, the point cloud is oriented to the target P1

The coordinates are:

的坐标分别为：Point cloud orientation target P2

The coordinates are:

which is:

的坐标为：Therefore, the point cloud is oriented to the target P2

The coordinates are:

The coordinates of both ends of the second baseline can be obtained through the above mathematical operation, and the point cloud registration calculation is performed according to the coordinates of both ends of the second baseline and the point cloud data of the underground claustrophobic space acquired by the point cloud acquisition module 2. The point cloud registration The calculation process is an existing technology, and the present application has not made any improvement on this, so it will not be repeated here.

Further, establishing a digital survey model according to the point cloud data, and obtaining an accurate digital survey model according to the registered underground space scanning point cloud;

Specifically, after the point cloud acquisition module 2 acquires the point cloud data, a digital survey model is established based on the point cloud data and output is displayed on the display screen. In order to ensure the accuracy of the digital survey model, the point cloud coordinates are moved to the registered Accurate digital survey model is obtained on the coordinates of the point cloud orientation device.

A computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a computer or a processor, the method for registering a point cloud of an underground space station type three-dimensional laser scanning point cloud is realized ;

Specifically, the present application also provides a readable storage medium, and the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM). , Flash Memory (Flash Memory), Hard Disk Drive (Hard Disk Drive, abbreviation: HDD) or Solid-State Drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the above-mentioned types of memories.

It can be understood that, the same or similar parts in the above embodiments may refer to each other, and the content not described in detail in some embodiments may refer to the same or similar content in other embodiments.

It should be noted that, in the description of the present application, the terms "first", "second" and the like are only used for the purpose of description, and should not be construed as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meanings of "plurality" and "multiple" refer to at least two.

It will be understood that when an element is referred to as being "fixed to" or "disposed to" another element, it can be directly on the other element or intervening elements may also be present; when an element is referred to as being "connected" to another element, it will be This may be directly connected to another element or intervening elements may be present at the same time, in addition, "connected" as used herein may include wireless connections; use of the word "and/or" includes any of one or more of the associated listed items. One unit and all combinations.

Any description of a process or method in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a particular logical function or step of the process , and the scope of the preferred embodiments of the present application includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present application belong.

It should be understood that various parts of this application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.

Those skilled in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, one or a combination of the steps of the method embodiment is included.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limitations to the present application. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (8)

1. a system of underground space station type three-dimensional laser scanning point cloud registration, is characterized in that, described system comprises: a data acquisition module for acquiring the three-dimensional coordinates of an endpoint of the first baseline, and the azimuth angle from an endpoint of the first baseline to another endpoint vector; The point cloud acquisition module is used to acquire the point cloud data of the underground space; The registration module is configured to calculate the coordinates of the two ends of the second baseline according to the data obtained by the data acquisition module, and perform the registration calculation on the scanning point cloud of the underground space according to the coordinates of the two ends of the second baseline in the point cloud data. 2. An underground space station type three-dimensional laser scanning point cloud registration system according to claim 1, wherein the first baseline is arranged on the top of the lifting center axis of the inverted tripod and is erected together in the underground space The second baseline and the point cloud acquisition module are arranged directly above the ground wellhead of the inverted tripod, and the bottom of the inverted tripod is vertically lowered into the underground space through the ground wellhead. 3 . The system for underground space station type three-dimensional laser scanning point cloud registration according to claim 2 , wherein the first baseline and the second baseline are parallel to each other, and the first baseline and the The top of the vertical axis of the inverted tripod has an intersection point, the second baseline has an intersection with the bottom of the vertical axis of the inverted tripod, and the four end points of the first baseline and the second baseline are located in the same vertical plane. 4. A system for underground space station type three-dimensional laser scanning point cloud registration according to claim 1, wherein the data acquisition module adopts a GNSS dual-antenna directional instrument, and a positioning is set at one end of the first baseline Antenna, a directional antenna is set at the other end of the first baseline, and the GNSS dual-antenna directional instrument is used to send the three-dimensional coordinates of the positioning antenna phase center and the azimuth angle from the positioning antenna to the directional antenna vector to the registration module. 5. A method for underground space station type three-dimensional laser scanning point cloud registration, characterized in that the method comprises: Obtain the coordinates of an endpoint of the first baseline and the azimuth angle of the vector from one endpoint of the first baseline to the other endpoint; Calculate the coordinates of both ends of the second baseline according to the coordinates of one end point of the first baseline and the azimuth angle of the vector from one end point of the first baseline to the other end point; Obtain the point cloud data of the underground space, and perform registration calculation on the scanning point cloud of the underground space according to the coordinates of the two ends of the second baseline in the point cloud data. 6. The method for underground space station type three-dimensional laser scanning point cloud registration according to claim 5, characterized in that, according to the coordinates of an endpoint of the first baseline, the vector of an endpoint of the first baseline to the other endpoint The azimuth angle and the distance from the positioning antenna or directional antenna to the intersection of the first baseline and the top of the vertical axis of the inverted tripod, calculate the coordinates of the intersection of the first baseline and the top of the vertical axis of the inverted tripod. Calculate the coordinates of the intersection of the second baseline and the bottom of the vertical axis of the inverted tripod lift; according to the coordinates of the intersection of the second baseline and the bottom of the vertical axis of the inverted tripod, and the intersection of the second baseline and the bottom of the vertical axis of the inverted tripod to The distance between the two ends of the second baseline calculates the coordinates of the two ends of the second baseline. 7. A method for underground space station type three-dimensional laser scanning point cloud registration according to claim 6, wherein a digital survey model is established according to the point cloud data, and the underground space scanning points are registered according to the point cloud data. Cloud to obtain accurate digital survey models. 8. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a computer or a processor, a An underground space station-type 3D laser scanning point cloud registration method.

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