Research on the Dynamic Point Cloud Alignment Method of Lidar Based on Posture Correction

The GM-APD LiDAR system offers a number of advantages, including high sensitivity, an extended detection range and high distance resolution. However, the field of view is constrained by the operational principle, which necessitates the utilization of multi-pulse data for the reconstruction of the target. It is therefore important to consider the impact of the Gm-APD LiDAR's motion process on the resulting imaging in the context of large-scale scene scanning. The 64×64 APD array is unable to extract sufficient and effective point cloud features. The traditional feature-based alignment method is unable to achieve point cloud alignment. To resolve this issue, a system based on the combination of LiDAR and inertial guidance has been designed. This system utilizes position, attitude and scanning angle to reduce the dynamic effects during LiDAR scanning and achieve dynamic point cloud alignment.