Multisource forest point cloud registration with semantic-guided keypoints and robust RANSAC mechanisms

Wenxia Dai, Hongyang Kan, Renchun Tan, Bisheng Yang, Qingfeng Guan, Ningning Zhu, Wen Xiao, Zhen Dong

Abstract: Highlights•The proposed method was independent of single tree detection and ground filtering.•A new type of keypoint was proposed for forest point cloud registration.•Robust RANSAC mechanism was introduced to enhance registration performance.