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For obtaining a full coverage of 3D scans in a large-scale urban area, the registration between point clouds acquired via terrestrial laser\udscanning (TLS) is normally mandatory. However, due to the complex urban environment, the automatic registration of different scans\udis still a challenging problem. In this work, we propose an automatic marker free method for fast and coarse registration between point\udclouds using the geometric constrains of planar patches under a voxel structure. Our proposed method consists of four major steps:\udthe voxelization of the point cloud, the approximation of planar patches, the matching of corresponding patches, and the estimation\udof transformation parameters. In the voxelization step, the point cloud of each scan is organized with a 3D voxel structure, by which\udthe entire point cloud is partitioned into small individual patches. In the following step, we represent points of each voxel with the\udapproximated plane function, and select those patches resembling planar surfaces. Afterwards, for matching the corresponding patches,\uda RANSAC-based strategy is applied. Among all the planar patches of a scan, we randomly select a planar patches set of three planar\udsurfaces, in order to build a coordinate frame via their normal vectors and their intersection points. The transformation parameters\udbetween scans are calculated from these two coordinate frames. The planar patches set with its transformation parameters owning the\udlargest number of coplanar patches are identified as the optimal candidate set for estimating the correct transformation parameters. The\udexperimental results using TLS datasets of different scenes reveal that our proposed method can be both effective and efficient for the\udcoarse registration task. Especially, for the fast orientation between scans, our proposed method can achieve a registration error of less\udthan around 2 degrees using the testing datasets, and much more efficient than the classical baseline methods

AUTOMATED COARSE REGISTRATION OF POINT CLOUDS IN 3D URBAN SCENES USING VOXEL BASED PLANE CONSTRAINT