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Terrestrial laser scanners have become a standard piece of surveying equipment, used in diverse fields like geomatics, manufacturing\udand medicine. However, the processing of today's large point clouds is time-consuming, cumbersome and not automated enough. A\udbasic step of post-processing is the registration of scans from different viewpoints. At present this is still done using artificial targets\udor tie points, mostly by manual clicking. The aim of this registration step is a coarse alignment, which can then be improved with the\udexisting algorithm for fine registration. The focus of this paper is to provide such a coarse registration in a fully automatic fashion,\udand without placing any target objects in the scene. The basic idea is to use virtual tie points generated by intersecting planar surfaces\udin the scene. Such planes are detected in the data with RANSAC and optimally fitted using least squares estimation. Due to the huge\udamount of recorded points, planes can be determined very accurately, resulting in well-defined tie points. Given two sets of potential\udtie points recovered in two different scans, registration is performed by searching for the assignment which preserves the geometric\udconfiguration of the largest possible subset of all tie points. Since exhaustive search over all possible assignments is intractable even\udfor moderate numbers of points, the search is guided by matching individual pairs of tie points with the help of a novel descriptor\udbased on the properties of a point's parent planes. Experiments show that the proposed method is able to successfully coarse register\udTLS point clouds without the need for artificial targets

AUTOMATIC REGISTRATION OF TERRESTRIAL LASER SCANNER POINT CLOUDS USING NATURAL PLANAR SURFACES