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The registration process of terrestrial laser scans (TLS) targets the problem of how to combine several laser scans in order to attain\udbetter information about features than what could be obtained through single scan. The main goal of the registration process is to\udestimate the parameters which determine geometrical variation between the origins of datasets collected from different locations.\udScale, shifts, and rotation parameters are usually used to describe such variation. This paper presents a framework for the registration\udof overlapping terrestrial laser scans by establishing an automatic matching strategy that uses 3D linear features. More specifically,\udinvariant separation characteristics between 3D linear features extracted from laser scans will be used to establish hypothesized\udconjugate linear features between the laser scans. These candidate matches are then used to geo-reference scans relative to a common\udreference frame. The registration workflow simulates the well-known RANndom Sample Consensus method (RANSAC) for\uddetermining the registration parameters, whereas the iterative closest projected point (ICPP) is utilized to determine the most\udprobable solution of the transformation parameters from several solutions. The experimental results prove that the proposed\udmethodology can be used for the automatic registration of terrestrial laser scans using linear features

RANSAC approach for automated registration of terrestrial laser scans using linear features